For example, if you were on a station attached to 2019 BE5[0], that asteroid rotates once every 15 seconds. With a 60km tether, slowly unwound out from the asteroid, you'd be moving at something like 12km/s. (60km * 3.14 / 15s). All you'd need to do is wait until the plane of the orbit lines up with the destination to have in mind and release the asteroid on the end of the tether.