Probably something like this:
$records = new WP_Query( array(
'post_type' => array('record'),
'post_per_page' => -1,
) );
while ( $records->have_posts() ) : $records->the_post();
$terms = wp_get_post_terms( get_the_ID(), 'planets' );
if ( count( $terms ) === 0 ) {
echo 'Post ID: ' . get_the_ID() . '<br />';
}
endwhile;
wp_reset_postdata();
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