Could six-limbed creatures evolve from griffin or dragon to centaur?

In my setting, centaurs are related to other six-limbed creatures such as dragons and griffins (the "fur" is actually made up of tiny feathers). Assuming they were originally creatures similar to six-legged, wingless griffins or dragons, would it make evolutionary sense for them to develop humanoid torsos, arms, and heads?

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Could six-limbed creatures evolve from griffin or dragon to centaur?

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