Could venoms evolve naturally in mammals?

Venoms have evolved in certain classes of animals on Earth (notably snakes and frogs, but also fish and maybe elsewhere that I can't think of right now), sometimes for defense and sometimes (particularly in snakes) for offense or hunting.

Assuming an evolutionary process, could venoms similarly evolve naturally in mammals? What might be reasons why they might not? (For example, might it be too costly in terms of energy to produce a venom for it to provide enough advantage to be worthwhile?)

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Could venoms evolve naturally in mammals?

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