What I can say is that the more I read about the Achealean peoples of the late Lower Paleolithic the more I realise that they were far more advanced that we can possibly give them credit. They created wooden spears, cut, dressed and polished wooden planks, they had methods of creating fires on a regular basis, and developed a highly consistent method of stone axe manufacture that persisted for as much as 1 million years. They even had their own system of glyphs (something I didn't know until yesterday).
The hominin species behind these innovations was Homo erectus.
They were followed by the earliest anatomically modern humans, who had even greater innovations up their sleeves, and might well have been the precursors of the Siberian Denisovans. See [www.ancient-origins.net]
So we begin the slow road to the rise of the last of the Denisovans with all their innovations around 50-45 kya. So Darwin was not wrong, although I suspect there are more branches on the tree of progress than we care to think of, and only a few of these grew large enough to make a lasting impact on the fossil record.