Analysis suggests genetic mixing occurred in Africa around 35,000 years ago.
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References
Hammer, M. F. et al. Proc. Natl Acad. Sci. USA http://dx.doi.org/10.1073/pnas.1109300108 (2011).
Green, R. E. et al. Science 328, 710-722 (2010).
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Kaplan, M. Human ancestors interbred with related species. Nature (2011). https://doi.org/10.1038/news.2011.518
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DOI: https://doi.org/10.1038/news.2011.518