There are two common theories. One is that it’s a natural human reaction we’re born with, like smiling. Even people who are born blind smile when they’re happy, in spite of never seeing another person do it to mimic. It isn’t unthinkable that something as simple as indicating yes and no are innate features that get culturally reinforced throughout our lives.
Another thought is that the gesture developed early in human civilization, like early enough that human civilization was a couple tribes of hunters and gatherers, and just didn’t change much as we spread across the world. Also not unthinkable, considering that it’s one of the most basic forms of communication two humans can have, and the basics last longer as language changes.
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