We also have a couple of gravity wells - Jupiter, Saturn, Uranus, Neptune covering for us.
Occasionally an asteroid does get through as witnessed by the craters on the moon and of course of the craters that we have not quite lost to erosion here on terra firma.
My “prediction” is based on how old the universe currently is and all that has occurred in that time including collisions. And it’s not even a “prediction” it’s an inevitability.
It only stands to reason that there is another asteroid out there with Earth’s name on it.
Personally I’m not betting on a naturally occurring disaster, because if I was a wagering man I would put my money on some idiot with a nuclear device before we are struck with another extinction event.
Recall the Saganesque quote “extinction is the rule, survival is the exception”