All large land animals belong to two lineages: synapsids and sauropsids. Mammals are the last surviving synapsids; but our ancient synapsid forbears dominated the world in the Permian period before the age of the (sauropsid) dinosaur usurpers. en.wikipedia.org/wiki/Syn…
Mammals did not evolve from any modern group of reptiles. Soon after the first reptiles appeared, they split into two branches, the sauropsids and synapsids. The synaosids lead to mammals and diverged from the line leading to modern reptilian lines (the sauropsids) about 320 million years ago en.wikipedia.org/wiki/Syn…

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