I believe a lot has to do with how the worms develop in the embryonic stages, these differ a lot compared to how chordata develop. As chordata usually rely on a similar developing patterns early on in the embryonic stages (f.e. at certain stages we would resemble an amphibian embryo).
Whilst worms, i think, have a lot of different ways of organizing within an embryo. Not sure about the differences exactly but i do know i studied this for a semester lol. Different ways of cell structures migrating and developing within the embryo.
Hope this helps a bit 😀
Beinj
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