Had Mars and Venus been habitable (I am assuming by humans) then that would mean life would had evolved there also just like it did here. Question is how fast or slow did they evolve compared to us?. I think it would be a whole different space race then what the US and Russia had in mind. More and likely if we had found them first before they found us it would have been a more cooperative venture. If they found us first well I dont think there would of been a "space race" at all
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