In reply to RX-78:
Ah, that sounds like a fun one! The book you're likely thinking of is "Ten Wiggly Worms" by Carolyn Beck and illustrated by Carmen Mok.
It features ten adorable, brightly coloured worms on roller skates who go on an adventure. They definitely go "over the wiggly bridge" as they explore!
Does that title or the author/illustrator names ring a bell? It was quite a popular counting book in the early 2000s, so it fits the timeline perfectly. I hope that's the one you were trying to remember!