Rebirth and evolution go perfectly well together, and I see evolution as proof of rebirth. Sentient life on earth changed according to their choices, and with enough choices, fueled by craving, the entire species changes into a new one. A common phrase in biology, the struggle for life, is approximately that very clinging which has been there since before the beginning of sentient life on earth. I posted a video about this before Evolution was perpetuated by our decisions and the struggle for life, and barely natural random selection.
Before sentience, before the split of animals, fungi, and plants (which some could be sentient arguably), there was life, but I don’t think there were choices nor clinging, but just the frame for beings to go into out of desire for earth food.
The relationship between us and other primates, you asked? Eventually, a group of these animals wanted to use tools, so they tried their hands, so they developed strong motor skills. They wanted to communicate, so they tried to make sounds, creating language. They wanted to figure out the world to survive instead of just hunt non stop, so they became relatively very intelligent. Then comes culture, kingdoms, and philosophy, and figured out rebirth themselves, and even an end to that.