we’re doomed
The Animations Page on the website of the Minor Planet Centre holds several animations of our solar system. Including one that shows the Earth’s orbit during 2002, along with all the Near Earth Objects that passed within 20 million kilometres of our home during that period. Some pass very close indeed. Some of the objects appear from nowhere on the animation, this is because they are only plotted from the moment they were discovered. Notice the way some objects were only discovered when they were already quite close.
Still I’m sure we’ll be fine.