Feasibility of humanoids that evolved from non-primate mammals?

I'm writing a fictional story where non-primate mammals (and marsupials) evolved into different species of humanoids which roamed the earth.

In my world humanoids have evolved from animals such as bears , sloths and koalas including extinct animals such as Chalicotheres.

I'm wondering what evolutionary pressures could lead to the rise of such species.

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Feasibility of humanoids that evolved from non-primate mammals?

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