Earth, Venus, and Jupiter as seen from Mars

It's possible We see Jupiter and Venus in the sky at the same time. sometimes the angle between us allows it

The Solar System isn't always layed out in a neat line like in your 8th-grade textbook. They're each orbiting the Sun at different rates, which puts them in different places. It is entirely possible (though admittedly less common) to see both Earth and Jupiter from Mars at the same time.
Here's a diagram showing how:
https://petapixel.com/2012/08/26/earth-and-jupiter-seen-in-a-single-photo-taken-from-mars/

We have probes and rovers on Mars. They've been there for a while.