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House speaker Kevin McCarthy announces impeachment inquiry into Joe Biden
(www.theguardian.com)
News from within the empire - From a leftist perspective
You can actually, but the Senate has to confirm it in a ⅔ vote, and even the Senate Republicans aren’t interested.
OP meant "someone who is no longer in office" not "impeach someone and remove them from office"
The House has impeached previously after resignation and the Senate voted that it had jurisdiction to try that impeachment.