The amphibians and some of the non-vertebrate chordates like hagfish are most closely related as they have evolved close after the cartilaginous fish.
Cartilaginous fish first appeared during the Devonian period about 400 million years ago. Their kind expanded during the Carboniferous and Permian.
• How long ago did humans share a common ancestor with this group?
Cartilaginous fishes are the living group of jawed vertebrates that comes from the common ancestor of human and teleost fish 530 million years ago
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