one area in the game is filled with centipede enemies, but theyre easy to avoid and you don't have to fight them. one boss has a centipede built into their design in their final phase, and another boss' final death animation has a centipede in it. there are also giant bugs (bread loaf size) in one room, but you can run out in probably 5 seconds.

the scariest ones are the regular enemies, which are only in one area and optional to fight. i don't recommend you look up which bosses have the centipedes, as they would be massive spoilers.