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Came here to suggest The Order of Time by C Rovelli, which explains this in such a captivating way.

I think this video explains the issue quite well in only two minutes:

Another one here, it is in Catalan but with subtitles in english. Minute 18 is where it is explained although I think is worth it to watch all of it

But that only happens with sufficiently high relative velocities. Earth and Mars are effectively in the same reference frame.