Magnetic domain wall bimerons (DWBMs) offer a platform for current-driven transport in patterned magnetic stripes. However, soliton-soliton interactions and defect pinning complicate their reliable motion. We demonstrate that periodic defect arrays stabilize multi-DWBM transport and give rise to a distinctive collective state, the magnetic worm. A single DWBM travels at constant speed, with defects reducing this speed while preserving an approximately linear velocity-current relation. For two DWBMs, the center of mass advances nearly uniformly while their separation exhibits bounded oscillations whose frequency increases and amplitude decreases with current. For larger trains, the oscillations lose synchrony, producing segmented, wormlike motion. This pattern emulates wormlike locomotion through retrograde peristaltic waves, effectively modulating surface friction. These findings open pathways toward current-controlled nano-oscillators, phase-coded racetrack logic, and on-chip defect sensing in patterned racetrack devices.

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• Defects
• Magnetic domains
• Magnetic texture