The Taurid Resonant Swarm (TRS) within the Taurid Complex hosts dynamically-concentrated debris in a 7:2 mean-motion resonance with Jupiter. Fireball observations have confirmed that the TRS is rich in sub-meter-sized particles, but whether this enhancement extends to larger, asteroid-sized objects remains unclear. Here we reanalyze the data obtained by a Zwicky Transient Facility (ZTF) campaign during the 2022 TRS encounter, and find that the TRS may host up to $\sim10^2$ Tunguska-sized objects and up to $\sim10^3$ Chelyabinsk-sized objects, the latter of which agrees the estimate derived from bolide records. This translates to an impact frequency of less than once every 4 million years. However, we caution that these numbers are based on the unverified assumption that the orbital distribution of the TRS asteroids follows that of fireball-sized meteoroids. Future wide-field facilities, such as the Vera C. Rubin Observatory, could take advantage of TRS's close approaches in the 2020-30s and validate the constraints of the asteroid-sized objects in the TRS.