Asteroids are minor planets, they are smaller than the main planets which are Earth, Jupiter, Mars, etc; that is why they are called minor planets. These minor planets are in a region in our Solar System called the Asteroid belt, which contains many of these minor planets and other pieces of debris.
This so called “impossible asteroid” Itokawa was first visited in November 2005 by Japan’s Hayabusa spacecraft. This visit left many planetary scientists puzzled over Itokawa’s origins.
Because this asteroid is very small in size, only five-hundred and three meters long to be exact; most planetary scientists thought it was a single chunk of rock, that was unable to hold extra pieces of rock on its surface. But unlike what they thought, the pictures from the spacecraft of Itokawa’s surface clearly showed that its surface was covered with gravel and boulders.
Everything that the scientists had thought turned out to be all wrong, an example of this is the measurement of Itokawa’s gravity field is forty percent poros(filled with empty space). This astonished many scientists because sand has a porosity of twenty percent, and having this much porosity is very hard to accomplish. So technically the only way to accomplish this is by gently packing the materials together.
Technically Itokawa is just loosely packed rubble, that was collected after a collision between asteroids. This causes an issue because repeated impacts with other space objects should have made this asteroid more dense.
The answer to this, is that these space debris have not been hitting Itokawa for millions of years. This is another of those things that prove that the universe was created at the same times as the Earth, which was thousands of years ago instead of billions.