We get hit many many times, often with nuclear bomb level explosion high in atmosphere.
You (and us) are worried about the huge ones that are out there, but we´ve spotted mostly all of them by now. Mostly.
Still, one day we´ll get a big hit, no doubt about it. Maybe not in our lifetime but it´s gonna habben.
(won´t embed, 1min video of asteroid discoveries in solarsystem)
https://www.youtube.com/watch?v=vfvo-Ujb_qk&t=50s
without timestamp, don´t know how that got in there
https://www.youtube.com/watch?v=vfvo-Ujb_qk