Mita Station straight to Haneda Domestic

Hello. Is there a train or subway that goes directly from Mita Station to the Haneda Domestic terminal?

Yes, look at an example....Route 3 below

http://www.hyperdia.com/cgi/en/search.html?dep_node=MITA&arv_node=HANE...

Thank you!

Depends on dep time, basically a lot of direct trains are operating on everyday.(change dep date/time)
https://goo.gl/maps/2RGpo9LDAsmzEYQq9
Above link looks like no direct trains, though.

This is Mita stn timetable(JP), with ‰H(hane) sign all trains are so,
airplane icon ones are the fastest as express(rapid, same fare).
- Weekday;
https://www.kotsu.metro.tokyo.jp/subway/timetable/asakusa/A08SD.html
- Sat, Sun, and National holidays;
https://www.kotsu.metro.tokyo.jp/subway/timetable/asakusa/A08SH.html

Fr Sengakuji stn to the airport, rail company changes to KEIKYU fr Toei Asakusa line,
but no transfer, those are one of major through service trains section, no worry.
Also you can buy a ticket to the airport at the ticket vending machine(EN menu with) at Mita stn.
If you already get a PASMO or Suica card, that is the easiest.

The Q of whether Suica can be returned at HND has not been solved yet, though.
https://www.japan-guide.com/forum/quereadisplay.html?0+168416