Escape velocity applies at the surface of the Earth only. If you build a (very) tall tower, escape velocity is less.

For a passing asteroid, you could define a "capture velocity" which was the local escape velocity at closest approach.

Things get more complicated because paths bend as gravity deflects things (Your original point, methinks), and that velocities and gravity are vectors in 3D space.

Basically, this particular space rock took a curve after this pass, so it won't be back in the same place and time, one orbit later. Hopefully, it will be deflected away, otherwise, get out your Bruce Willis movies and strat watching "Armageddon" as if it were real, but cut off before the final reel where they improbably deflect the asteroid.