if you see it munching on coral, then yeah remove it. it is a true Carribean fireworm (type of bristleworm). it you dont have any coral mortalities, then why bother removing it? I would actually like having a giant centipede in my tank as part of my CUC. most bristleworms are just detritivores... just have to be careful about the rare coral lawnmower. and dont handle it barehande obviously.
i doubt yours is a carribean fireworm as i believe i read that these only occur as completely bright orange... and even some of the orange bristleworms are harmless. so innocent until proven guilty i say
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