Still by now, a number of ancient asteroids independently don't orbit within Sol's planetary system, (such as the farther out Kuiper belt having >100,000 asteroids >100km size [> means greater than], and the even much farther out Oort cloud, both also having many more smaller ones). And some ("Trojan") bunches of asteroids stay clustered around the Lagrangian L4 & L5 points (60deg before and after planets), each having a roughly kidney bean orbit around L4 or L5, ranging from 30-90deg before & after planets in their orbits such as Jupiter, Saturn, and Neptune.
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