You are slightly mistaken. There have been hit-and-run asteroids that entered the upper atmosphere and skipped through. https://en.wikipedia.org/wiki/1972_Great_Daylight_Fireball The Grand Teton Meteor / The Great Daylight Fireball of 1972 came within 35 miles of the surface. A huge iron meteor might survive a low pass but this would be a very rare event.

https://en.wikipedia.org/wiki/Category:Earth-grazing_firebal...