Two different separate species cannot. But similar animals can. For example, you can mate some wild felines with domestic felines.
So the theory is that the early proto humans were close enough in DNA that they could mate. Its very possible that mating wasn’t successful all the time, but enough of the time for the genes to mix. And as they mixed, it would make sense that more and more compatibility would develop.
Would be more like breeding different dog breeds than completely separate species.
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