'Clearing your orbit' is not a qualitative term. It is actually something that is quantifiable: a value that expresses the relation of the mass in the planet's orbit compared to the mass of the planet itself.
A tiny asteroid won't change that value much for Earth, which is more than comfortably a planet under this definition. The mass of this asteroid may not even affect the estimates of the mass of the regular space debris in our orbit even (haven't checked).
I didn't know that the "clearing your orbit" requirement had the caveat that it had to be cleared up to a given mass ratio. Do you know what that mass ratio is?
A tiny asteroid won't change that value much for Earth, which is more than comfortably a planet under this definition. The mass of this asteroid may not even affect the estimates of the mass of the regular space debris in our orbit even (haven't checked).