Searches during twilight toward the Sun find several asteroids near Venus’ orbit
science.org
science.org
They're newly discovered, but they've been avoiding Earth for billions of years, and will continue to do so.
There have even been suggestions to send an asteroid searching telescope satellite to some lower orbit around the sun and use that vantage point to look outward towards earth and find anything there. Personally I still think we should do that too.
They were always there, and the trends of the last N million years will continue.
Then again, even with a warning, there is very little we can do, aside from evacuate the target area.
See also
Something I'm grumpy about. before we talk about placing humans on mars we should definitely have some sort mining technology expansion.
Either way space mining is so expensive nobody has done it. Whenever space mining does happen it will be use insitu or bringing things closer to the Sun.