Adding heat breaks down fibres and tissues which makes it easier to digest.
It also makes the meat safer to eat, killing off pathogens etc.
Overcooking breaks down protein structures, along with other nutrients.
As for other animals: many of them love a cooked food, pet dogs pick cooked meat over raw often for example.
And wild animals opportunistically love cooked meats, eg after a fire the scavengers go mad for fresh kills. The problem is they lack the ability to make/control fire, which means they can’t go about cooking food by intent.
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