They are all extinct.
To answer your question, the majority did not.
How pre historic humans survived is like how many species survive today- have a brood or litter of 10, if 3 or 4 make it to breeding age to continue your line you've done well!
Half died before the age of 5, just as an example of what "some" means.
Same could be said of any deadly and widespread disease. Tuberculosis, COVID, etc. This is the result of expediency+improved testing, not some reverse causation.
Too many unanswered questions