Metazoa (760mya) - "animal multicellularity (gene regulation, signalling, cell adhesion, and cell cycle)"
Eumetazoa (760-680mya) - "Characteristics of eumetazoans include true tissues organized into germ layers, the presence of neurons, and an embryo that goes through a gastrula stage." [1]
Planulozoa (680mya) - "A 2004 study investigated the relationships between biradial and bilateral animals in evolution. If biradial is the link between radial and bilateral, then would seem to suggest that bilateralism occurred before cephalization. Called the Planulozoa Hypothesis, the authors suggests that ctenophora are the sister clade of bilateralians, and that all three of the groups – cnidarians, ctenophora and bilaterals – are the descendents of a single bilateral ancestor." [2,3]
Bilateria (650mya) - "A Hox system is thought to have arisen (indicated by a red bar) after the divergence of the cnidarians from the common ancestor that gave rise to bilaterian animals (ecdysozoans, lophotrophozoans and deuterostomes)." [4]
[1] https://en.wikipedia.org/wiki/Eumetazoa [2] https://en.wikipedia.org/wiki/Planulozoa [3] http://biologicalexceptions.blogspot.com/2015/02/mirroring-e... [4] https://www.sciencedirect.com/science/article/pii/S096098220... [5] https://pdfs.semanticscholar.org/3003/cc4844fe878fbe00167da6... - list of gene adaptations by LCA.