Could humanesque creatures ever be eusocial?

I was watching a television program recently about Naked Mole Rats and how they are they are one of the only known Eusocial mammals. They have a single queen who produces offspring as well as warriors and worker castes (the most well known example is an ant colony).

This got me thinking could humans (or at least human like creatures) ever live in a similar society?

The obvious problem I see would be the gestation period, if the queen has a nine month pregnancy then there will be a far lower birth rate than the moles. How could humans develop a similar society to ants or mole rats?

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Could humanesque creatures ever be eusocial?

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