Was going to replace the worm gear but it isn't broken.
This parts diagram may help.
Kitchenaid Stand Mixer Parts Amazon
Something must be broken if the motor is turning and the planetary is not. It will be one of the following, we will start from the first point of contact with the armature
1) Worm gear broken (fuse gear) you say no teeth broken
2) Worm gear not broken but whole unbroken plastic part not gripping aluminium boss
3) Pin through worm gear broken or missing
4) Pin through centre (or bevel) gear broken or missing
5) Pin through small gear in planetary broken or missing
6) Pin through planetary hub centre shaft broken or missing
The most common ones in order of likelihood are, 1, 2, 3 and 6
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