Uh, no, we don't.
The vast majority of NEO's are not seen until the last minute.
Even the ones we know about.
https://www.youtube.com/watch?v=4Wrc4fHSCpw&t=615s
I’m not a rocket scientist.
However it would seem we could develop and deploy a system that could deflect these.
Way better use of some funds than much of what we spend money on