Any form of acceleration generates gravitational waves. The point is how strong they are. Two black holes sized ~200km (or ~30 solar masses) merging at distance

Any form of acceleration generates gravitational waves. The point is how strong they are. Two black holes sized ~200km (or ~30 solar masses) merging at distance ~10000km would be detected through an interferometer by a shift in one part in 1000, that is a change of ~2mm. Those are objects many order of magnitudes more massive than asteroids. So you will get gravitational waves but you wouldn't be able to detect them similar to not being able to detect the waves responsible for the orbit decay of planets.