It's pretty common. Based on radar data about 10-15% of Near Earth asteroids (larger than 200 meters) are contact binaries (or contact-binary shaped at least). We don't have enough data on main belt asteroids, trojan asteroids, and especially TNOs/KBOs to say what the percentages look like for those populations but it's a fair likelihood that the proportions are at least as high if not higher among KBOs.