The other day, I was cleaning the stick insect tank in Mrs. W's class, and I came across this little (maybe L3) nymph with only 3 legs. I should have just euthanized her on the spot, but I took pity on her and brought her home.
You can see where one leg has already started to regrow. Assuming she can shed successfully with only 3 legs to support herself, that curly little leg will unwind and be considerably larger after she sheds, and the totally missing ones will start to regrow with little curly legs. I previously documented this limb regeneration process here.