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This question already has an answer here:

Might not be anime (or just Japanese animation, I don't know the difference).

I don't remember much from this movie other than a brief glimpse of an aerial view of the caterpillars moving like a herd. And the hero (or heroine) who sacrifices him/herself by jumping, or throwing herself/himself in the way of gun/laser fire. There were quick-cut shots of the laser/bullets hitting the character. Then (I believe) the caterpillars somehow heals the hero/heroine.

marked as duplicate by Otis, Buzz, DavidW, Ward - Reinstate Monica, Stormblessed Nov 6 at 5:01

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Sounds like "Nausicaä of the Valley of the Wind" a Japanese animation from 1984. There are giant caterpillar-like animals, shooting and there is a heroine being resuscitated by the caterpillars, though that follows the heroine being run over.

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    Beat me to it by a minute, +1. Also at some point Nauusica does get shot and gets seriously hurt, not long before being run over by the Ohmu. – Renan Nov 4 at 14:43

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