The magnetic side of things is completely arbitrary on internal inner/outer core/mantle interactions and it can even flip, disappear or be stable. The rotation of the core is obviously in the same inclination but the field from it is far from “stable”. Currently north is somewhere over northern canada i think. The physical inclination of a planet is most likely due to material accretion, and then large planetoid collisions, like a mars sized body wacking earth from an inclined orbit, which imparts that inclination (part of it) to a young earth. These inclined impacts happen due to gravitational interactions with other bodies which throw them in any which direction the masses worked out. Chaotic to say the least. That most planets except weirdo uranus ended up with sensible/neat inclinations just indicate they were mostly in orbits and that the disc formed fairly flat. Any significant planetoids in way out orbits likely ejected themselves due to being too weird to become likely impactors (3D space, 2D racetrack). That being said, venus is rotating completely the wrong way around so it wasn’t all neat and tidy.