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Among the living primates, humans are most closely related to the apes, which include the lesser apes (gibbons) and the great apes (chimpanzees, gorillas and orangutans). These so-called hominoids — that is, the gibbons, great apes and humans — emerged and diversified during the Miocene epoch, approximately 23 million to 5 million years ago. (The last common ancestor that humans had with chimpanzees lived about 6 million to 7 million years ago.)