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As I watch the video of the asteroids being discovered, all I see is prograde orbits. Their prevalence is fully understandable and justified, but the Sun gets interstellar visitors occasionally and I see no specific reason why it couldn't catch one into a retrograde orbit. They would obviously be a minority and likely not nearly as long-lasting as these in prograde orbits, but they should exist.

Did we observe any? If so, what sort of percentage of the whole are they? If not, why?

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Yes, there are, but they are very rare.

Wikipedia has a list of retrograde asteroids, and mentions:

As of September 2016, of the more than 700,000 minor planets known, there are only 95 known retrograde minor planets.

That means only 0.014% of known minor planets are in a retrograde orbit.

The asteroid with the highest known inclination is 2013 LA2, with an inclination of reportedly (175.189±0.007)° according to the JPL small-body database browser.

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