Space: A Primer for Curious Minds - Ted Merritt - Bog

Asteroids Explained
As man begins to explore our solar space, some asteroids, which are like small moons made up of rocks and dust, are easier and cheaper to explore than the planets, including Earth.
Asteroids are usually rich in minerals and many of them have water and carbon which are associated with the creation of life. Simply put, exploring them is a good first step as we expand efforts to visit celestial bodies.
Scientists also plan to revisit earth's moon, nearby Mars and possibly Saturn's moon Titan. While we don't expect to find actual life in the asteroid exploration, we do look forward to better understand how the solar system developed and, of course, how earth was created,
Asteroids are usually irregularly shaped by many collisions with each other. So, we are able to get a relatively easy look at their interior characteristics.
It would be interesting to look deep inside earth but at this point it is impossible.
Do you suppose the Earth's interior is somewhat like an exposed asteroid interior?