Could another intelligent space-faring species have grown up on Earth before humans, and could another arise if humans all left?

If humans have evolved from apes, what if another species have already evolved from humans but left the planet millions of years ago? If this is true, in the future, if humans are advanced enough to leave the planet, could apes then evolve into humans and start the process again? Surely this would only take a few million years from the date we all leave?

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Could another intelligent space-faring species have grown up on Earth before humans, and could another arise if humans all left?

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