  HD106906 is a planetary system that hosts a wide-orbit companion, as well as
an eccentric and flat debris disk, which hold important constraints on its
formation and subsequent evolution. The recent observations of the companion
constrain its orbit to be eccentric and inclined relative to the plane of the
debris disk. Here, we show that, in the presence of the inclined companion, the
debris disk quickly ($\lesssim5$ Myr) becomes warped and puffy. This suggests
that the current configuration of the system is relatively recent. We explore
the possibility that a recent close encounter with a free floating planet could
produce a companion with orbital parameters that agree with observations of
HD106906b. We find that this scenario is able to recreate the structure of the
debris disk while producing a companion in agreement with observation.
