3753 Cruithne
Mars has four known co-orbital asteroids (5261 Eureka, 1999 UJ7, 1998 VF31, and 2007 NS2, all at the Lagrangian points), and Jupiter has many (more than 1000 known objects, the Trojan asteroids); there are also other small co-orbital moons in the Saturnian system: Telesto and Calypso with Tethys, and Helene and Polydeuces with Dione. However, none of these follow horseshoe orbits.