But there are many contemporaneous species that seem similar in form but have very stark differences in e.g. behavior.
Unfortunately DNA AFAIK degrades beyond recovery on geologically short timescales, so we might not ever be able to say anything definitive.
A good example is dogs. Humans controlled their breeding to promote certain attributes. Resulting in new types of animals that never existed in the wild.
Secondly, we are not said to have evolved "from" apes. We share a common ancestor with modern apes. That ancestor may superficially look more like othet modern apes than a modern human but only the DNA tells the true story of which is more like which and the import of that is even debatable. Even taking that resemblance for granted, there is no reason it had to be such. After speciation divided us from our last obviously ape ancestor, it was altogether likely one of us would diverge faster. It happened to be us.