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It appears as though detritus worms have found themselves in my tank. I clean the tank regularly and my filter is fine - I've tested the water, and it's clear. I also try to remove any food my RES doesn't eat. I've read mixed things online. Will these worms harm my turtle? Is there anything I can do besides cleaning the tank out entirely and scrubbing with vinegar/water mix? Should I consider getting a fish or two to help eat these worms? My turtle seems to ignore the worms and doesn't eat them.

I don't think they are harmful but I would find a way to get rid of them. People do use a mix of bleach and water to disinfect, but I would try a teardown of the tank/filter and let it dry out for a couple of days. More importantly you need to find the source of the little buggers.