Worrying about it is like stressing out over what you are going to name your super-yacht, when you're broke, unemployed, homeless, and are dying of lung cancer. It's the most absurdly pointless form of bikeshedding. There are plenty of immediate and catastrophic disasters that we should be preparing for, first.
https://spaceguardcentre.com/asteroids-deflected-with-paint/
Asteroids that hit Earth are in near-Earth orbits. For a first intercept event the odds of an asteroid just happening to hit an Earth sized target as opposed to, say, a 1000x Earth sized "near miss" target is incredibly unlikely. We get a few near-miss events of a given asteroid before an impact happens.
The asteroid that wiped out the dinosaurs was between 3 and 10 miles diameter. 2014 UN271 is 100km-370km.
Would we have discovered 2014 UN271 earlier had its orbit brought it closer to Earth? It’s making its closest approach in 2031 (ok, 11AU away!), only 17 years after discovery.
And sure, incredibly unlikely something that size would hit Earth, but just an example of something that is very large, and discovered shortly before it makes its closest approach.
My understanding is that this kind of threat is usually lumped in with comets, whereas threat asteroids are lumped in with low eccentricity big rocks.