Hey, reaching great speeds and then slowing down is just as much a problem as actually getting off the craft.

I mean, you would choose an asteroid with a desirable trajectory.

Yes, the object could be boarded by multiple smaller spacecraft with specific payloads.

In terms of mining before you leave the sun, perhaps only a certain level of mining is essential, like for certain gasses. Even still maybe you send enough payloads that mining isn’t much of a necessity.