Unless they were a double-planet, similar to Pluto/Charon. (Those orbit a common center not inside either body.) To my knowledge, they are unique, in that, among known bodies, though it would not be surprising if there were a few tiny double asteroids.
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They’d have different orbits with different orbital periods so wouldn’t stay “on the same side” over millions of years.
Unless they were a double-planet, similar to Pluto/Charon. (Those orbit a common center not inside either body.) To my knowledge, they are unique, in that, among known bodies, though it would not be surprising if there were a few tiny double asteroids.
Since we are talking about ~350AU (Pluto is at ~40AU), that may very well be the case.
An easy approximation:
https://www.sjsu.edu/faculty/watkins/bode.htm