It's been done and they're getting better at it. 
Initial and mid-phase intercepts can and have been accomplished with a high degree of success. Terminal phase ICBM interception is still a technically challenging proposition, I think the publicly available info suggests somewhere in the 50% success range, though continually improving. 
FWIW, Inter-Continental Ballistic Missiles (ICBMs) don't "juke" whatever that means, hence the "Ballistic". Re-entry speed is the main factor as atmospheric conditions, telemetry and processing/algorithm speeds are all compounding factors.