The real worry comes from comets.
Most of the asteroids that can cause catastrophic damage have been found, and are currently being charted. We have a near-miss expected for sometimes around 2035, if I recall correctly, but that's all we got for this century.
A comet, however, could come at us at any time with little to no warning, and be just as if not more dangerous than a lot of the asteroids we've charted.
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-D.
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