The literal answer to your question is yes, the practical answer is no.
Key-derivation is an entirely offline process. CIP-3 talks about how it is currently implemented in cardano (used by all relevant software, including Yoroi, Nami, cardano-cli, etc). A 24-word mnemonic equates to 256 bits of entropy. If generated in a secure fashion, it would take all the computers in the world orders of magnitude longer than the age of the universe to sift through all the possibilities. Ditto for the chances of two identical keys being generated.
It is worth noting that generating your keys using naked Yoroi (no hardware wallet) is not considered secure. The above still applies, but the seed is stored on your computer, and is thus much more likely to be stolen than guessed.
If you'd like to learn more about cardano key-derivation, I recommend the following video by Andrew Westberg: https://www.youtube.com/watch?v=4tSQBK75CPU