Is there any known asteroid or comet whose path goes through the Earth?
JPL and ESA provide tools to search for small bodies meeting user-defined criteria.
I tried:

H &lt;= 24
MOID &lt;= 1e-4 au

with each and got these results in common:

(89959) 2002 NT7, an H=16.5 (~1.4 km) asteroid with a 2.29 year period.
MOID≈4000 km but closest approach between 1900 and 2200 is 0.37 au; orbit rather highly inclined (i=42.3°).

(292220) 2006 SU49, an H=19.4 (390-780 m) asteroid with a 1.68 year period. MOID≈10,000 km; 3.2 lunar distance (LD) approach expected in 2029.

2014 DA, an H=22.7 (85-170 m) asteroid with a 1.85 year period and MOID≈4000 km. Discovered after a 9.3 LD approach; other approaches uncertain (JPL condition code 7) due to limited observational data.

2008 BO16, H=22.9 (80-160 m), 3.78 year period, MOID≈15,000 km, condition code 7.

2010 VB1, H=23.2 (70-140 m), 1.21 year period, MOID≈8000 km, 1.5 LD approach expected in 2068.


Each tool also listed a few bodies which the other didn't.
MOID computation methods vary, and I wouldn't assume that it's known very precisely even for numbered asteroids.
The ESA database appears to store MOID at a resolution of 1e-5 AU (1500 km).
JPL Sentry uses different criteria and shows different results including Apophis and Bennu.