It's more helpful to think in terms of "most-recent common ancestor" in comparing different primate and hominid species.
As far as I know Orrorin tugenensis (6 mya) is the oldest known member of our human lineage since the most-recent common ancestor between humans, apes and chimps.
Even older around 7 million years ago Sahelanthropus tchadensis lived and was a common ancestor of humans and chimps but possibly not of other apes. So ST was a common ancestor of humans and chimps, but not other apes.
Even longer ago there must have been a common ancestor between the man-chimp line and the other apes.
But new things are being found ever year, just not a fictional "missing link".