Sure, you could have two habitable planets. Not a problem. One’s going to be hotter and closer to the sun, the other is going to be colder and farther out. But it’s easily possible to have two planets in the habitable zone, if we define habitable zone as “has liquid water”.
We don’t really know if there would be biotic exchange between planets. Maybe life on Earth got it’s quick start 4 billion years ago because it was seeded by bacteria that arose elsewhere. The only caveat to this is that bacterial life on Earth chugged along for 2 billion years before the evolution of prokaryotic life, and multicellular life only arose 650 million year ago.
So if we imagine a larger, warmer, wetter planet in place of Mars, that supported life that was phylogenetically related to life on Earth, it could easily be the case that all life on Earth II is just mats of photosynthetic bacteria. Or it could have multicellular life, but those animals would have evolved completely independently from the multicellular organisms on Earth.
Sure, it’s easy to imagine wormy things that develop paddly stuff and crawly stuff, and we’d get fishy-ish and buggy-ish stuff. There are dozens of phyla here on Earth that are various dubbed “worms” even though they have no phylogenetic relation. A wormy shape is just a thing that convergently evolves.
You have gravity, you have radial symmetry. When you start to move you get bilateral symmetry. The food-hole goes in front, the sensors go in front, the nerve cluster connected to the sensors goes near the sensors. And then you stick the poop-hole in the back, so you don’t constantly swim through your own poo. There’s your wormy-dude, now add some paddles for movement through water, or crawly things for scuttling on the substrate, and there’s your convergently evolved fishy thing or buggy thing. Note however that even here on Earth I there are echinoderms and molluscs and jellyfish that don’t work anything like this, as well as filter feeders who aren’t even playing the same game.