Organisms of which group are probably most similar to ancestral arthropods?

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Onychophorans, also known as velvet worms, are considered to be living fossils that have retained characteristics similar to ancestral arthropods. Their segmented bodies and appendages resemble those of early arthropods like trilobites. Chelicerates, crustaceans, and trilobites all have unique adaptations that make them different from ancestral arthropods, and nematodes are not closely related to arthropods at all.

Organisms of Which Group Are Probably Most Similar to Ancestral