So the question is can bearded dragons eat centipedes at all?
Firstly there are a large variety of species of centipedes and it is difficult to tell apart the various kinds.
Some of the species of centipedes are very poisonous to bearded dragons.
Therefore to be safe you should stay clear of feeding centipedes to your bearded dragon in the first place.
Additionally it isn’t a wise idea to be feeding your beardie wild insects in the first place as they may also have parasites.