I've never seen one, and we've been living here for more than 50 years.
However, I did find a snake in the bedroom once. Christmas day when the kids were small. I thought it was a toy and nudged it with my toe. It was very patient with me.
One time, and it freaked me out.
I didn't witness the little bugger crawl into the house, but I found one in the kitchen once. I've also found millipedes hiding under firewood. Way too many legs on those things. Way too many.
No centipedes. Millipedes occasionally.
Yes, although i think it was a millipede. It was in my daughters room.
No, not in houses, but outdoors, in meadows, woods, gardens, etc.
These are the ones I've seen in the house, usually around or in the sink or bathtub. I don't know why they hang around places with water for. Can they swim? Or, do they just like water?