There is one way it can be visible for the purposes of a story. Some objects approach Earth very slowly. This is a theoretical trajectory of a “Mini moon”

As you see, it orbits Earth several times following a complex path, and then finally heads off again. Simulations Show Mini-Moons Orbiting Earth

Very unlikely to hit tiny Earth. This actually happened to a real object back in 2006 2006 RH120, approached Earth, orbited it for some months in a complex fashion, then headed off again. For this to work, it has to be in a one year orbit almost identical to Earth’s.

This was its orbit:

So, make it an object like that, but 9 km in diameter, and you can have it visible to naked eye for as long as you want - what’s more it would approach sometimes, go away again and fade so you can’t see it at all, approach again and then eventually hit.

I’ve no idea how likely this is. And there are no 9 km objects doing this - I know they have a complete census of all 10 km NEOs and not very likely they missed such an interesting 9 km asteroid, they are at around 90% for the 1 km ones too.

But - with a bit of artistic license, I don’t see why not, for purposes of a good story :). Alternative universe type story, in a very similar Earth to ours except for that asteroid…