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Earth has been visited. Likely many times by small groups of travelers.
The reason that Earth hasn't been colonized by another race is the fact that sending a starship with enough individuals to overpower Earth would be a massive endeavor. Sure, movies show city-sized ships moving through space all the time, but to actually get one of those things to move at light speed without smashing into any number of things would be quite the feat.
Moving at the speed of light isn’t the only method of space/time travel.