This is one of the functions of the new James Webb telescope right? From what I remember planetary defence was one of the few recent things a lot of countries agreed upon to mutually fund as well
All the remaining objects that can intercept us stay far away most of the time.
However as far as I know it's unlikely to actively survey them. It's expensive and limited time, so it'd focus will be on what can only be seen in infrared, like the early universe and exoplanet spectra. But who knows what the scientists will decide look at.