If the Solar system had a history of planet migration, the signature of that migration may be imprinted on the populations of asteroids and comets that were scattered in the planets wake. Here, we consider the dynamical and collisional evolution of inner Solar system asteroids which join the Oort cloud. We compare the Oort cloud asteroid populations produced by migration scenarios based on the `Nice and `Grand Tack scenarios, as well as a null hypothesis where the planets have not migrated, to the detection of one such object, C/2014 S3 (PANSTARRS). Our simulations find that the discovery of C/2014 S3 (PANSTARRS) only has a greater than one percent chance of occurring if the Oort cloud asteroids evolved on to Oort cloud orbits when the Solar system was not more than about one million years old, as this early transfer to the Oort cloud is necessary to keep the amount of collisional evolution low. We argue this only occurs when a giant (greater than thirty Earth masses) planet orbits at 1 ~ 2 au, and thus our results strongly favour a `Grand Tack-like migration having occurred early in the Solar systems history.
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