A science paper from 2019 by K. Kitazato et al. shows a shape model of the surface in Fig. 2, so we now indeed know the exact size and the exact mass, even the surface temperature distribution:

The quoted paper refers to S. Watanabe et al., Science, 2019 which has all the details
Ryugu has an oblate body, with an equatorial radius of 502 ± 2 m and polar-to-equatorial axis ratio of 0.872 ± 0.007. The total volume obtained from the SPC-based shape model is $0.377 {\rm km}^3$, with an uncertainty of 1.3%. We conducted a gravity measurement during a spacecraft ballistic descent down to 0.85 km from the asteroid surface and a subsequent ballistic ascent up to 5.4 km. The estimated mass is $4.50\times 10^{11} {\rm kg}$, with an uncertainty of 1.3%, mainly because of uncertainties in the solar radiation pressure on the spacecraft.
The highlighting in the quote is from me.