Given that the earth is constantly moving around the sun, probably? e.g, when the asteroid is really far away, like years, but still on track to hit the South P

Given that the earth is constantly moving around the sun, probably? e.g, when the asteroid is really far away, like years, but still on track to hit the South Pole at some time, it could be viewable. But if the earth was stationary, then no, probably not.