and you've already got the answer: delta-vee. Unfortunately, the rendezvous problem is not a function of how far an object is relative to the earth, but how fast it's going. Matching speeds and directions with an object going several times faster than the earth's escape velocity without outside help (like some kind of gravitational slingshotting involving a third body) is just beyond us now.

An object orbiting the sun in our vicinity will have, at best, a velocity on the order of earth's orbital velocity, 18+ miles per second relative to the sun. If it's coming up from behind us, at the correct angle, it might just work. If it's coming from the direction of our motion, it will be traveling roughly 40 miles per second relative to us. Spacecraft escaping earth's gravitational field will have a velocity well below our escape velocity of 7 miles per second. If it's crossing our orbit at an angle, we will have to make a sharp change of direction to hit it, also dynamically very expensive.

On the other hand, arranging a high-speed collision with these objects would be well within our capabilities. But we would have to know it's orbit to a high precision to be able to maneuver into it's path. But it would not be a "crash landing" even a hardened spacecraft could survive. The probe, and a good piece of the interloper, would be vaporized by a relative velocity of several dozen miles per second between the two bodies.

Any object launched from earth will escape if it's velocity relative to earth exceeds escape velocity, but it will be going much slower than that by the time it completely leaves the gravitational influence of our planet.

It would be relatively easy to rendezvous and even land on a near earth object if it had an orbit roughly comparable to earth's, but the rendezvous would be done with a standard transfer orbit, and it would occur on the other side of the solar system. This is how we now go to the planets now. Look up Hohmann Transfer Orbit.

Rendezvous between spacecraft and solar system objects is very much like rendezvous between sailboats and speedboats. The angles have to be just right, and you still have to slow down when you get there.