Actually, I don't believe that there are no fossils. The simplest, most conservative, safest assumption to make is that we have found
them. They simply don't look the way you expect/want them to look.
Take Denisovan for a model here. If Denisovan existed then we were
finding them all along. We've found their tools for certain. Probably
some of their bones. We just mistook them for erectus or something
else.
Given how wide spread Denisovan were, given the period of time they
would have existed for, we've dug up plenty were they had to be, and
it had to belong to them.
I think gorillas probably evolved from an upright walking common
ancestor and chimps certainly did.
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