I don't think millions of years are required to replace an ancestor species. For instance, Homo Sapiens replaced Homo Erectus in a few thousand years, not millions.
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"Dinsoauromorph" may be the coolest word I've ever seen. Ever.
You may not have heard of "Hippopotomonstrosesquippedaliophobia." That, to me, is the coolest word ever. It means a fear of long words.