What is this?

We found this in our backyard yesterday. I know it’s a caterpillar, I think, but oh my goodness, I have never seen one so big or gross looking. When I first saw it I thought it was a piece of food, like a little sausage, or it could have been poop, or something else! Eek. My kiddo and his friend had a lot of fun watching this little guy crawl around the backyard.

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