Simple calculation will show you how unbelievable the whole idea really is
If a minute i.e. 1/60th of a degree (°) equals 1.852 km
Then a degree is 1.852 x 60 = 111.12 km
Now for earth to move from axial tilt to today's rotation axis of exactly 23.439281° or in kilometers 2604.57 Km (1618.4 mi) around the poles that would require quite a jolt that would trigger earthquakes all over the planet higher in magnitude than anything we ever witnessed. Just like 8.8 Chilean quake caused a small shift in reverse (8 centimeters, or 3.1 inches to be exact)
Now imagine the force unleashed if earth suddenly moved 2604.57 Km (1618.4 mi). It would effectively destroyed the ark and probably large part of population almost not needing food to do so.
For earth to seamlessly move like that would require lots of small changes over lots of time that would also leave impact on climate as it happened. To do it without leaving a hint would require a real miracle indeed