eli5: Where did last names come from?

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Last names are inherited, so how far back did last names go? Did people initially choose their last name and then passed it down to children? Why are there so many common last names between people who aren’t related?

The original question was asked by a 6 year old, and it got me thinking about all of these other questions too.

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Last names only came to prominence as population density increased. John and Robert were fine as names until your small farm/village expanded to an larger settlement.

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