There can be some objects that enter the Earth’s surrounding area - and these are what are known as near-Earth asteroids. In fact, we are aware of more than ten thousand near-Earth asteroids, and this means that their orbits and also their size makes them a pretty big opposition to our safety.
It is true that some of these asteroids will fall into gravitationally equal spaces in close proximity to other planets. Here’s the thing, there are asteroids that are not even from our solar system - and there is just one that we know of at the moment, Oumuamua.