I just read an article several days ago that stated that they have found Neanderthal DNA in modern humans.
Even very standard sources like Plos-Biology are on record to the effect that the neanderthal made no detectable contribution to the genome of modern man. That’s before you even get started with Heinsohn’s timetables for erectus and the Neanderthal or anything radical like that. The ONLY possibility there is of our being related to hominids at all is the possibility that we might have been genetically re-engineered FROM one of them. There is no possibility of our having evolved from any of them.