Regrowing a limb may sounds useful but up until a couple thousand years ago losing a limb was basically a death sentence. You either die immediately from whatever cause you to lose a limb, bled out shortly afterwards, died from infection or in the incredibly rare likelihood, that you somehow survived, were no longer able to function. So even if some early humans did have some genetic mutation that allowed them to regrow limbs, that would not have been evolutionarily advantageous, and did not help these people survive and procreate.
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