2002 VE68 currently is co-orbital with Venus, but 7000 years ago it may well have been co-orbital with Earth. That coincides with all sorts of interesting events recorded/reflected in ancient literature, as well as tables of orbital observations made in ancient Sumer.
The references on the net suggest it is both an Earth-crosser and a Mercury-grazer (over the long haul) suggesting that it has a somewhat unstable orbit that brings it into close proximity to all the inner planets.
That boosts the chance of a collision right through the roof!
I know we gain small temporary moons in unstable orbits pretty often.