Of course the orders all converge backward in time, to different degrees.
The fact - not theory - that evolution has occurred and the Darwinian theory as to how it occurred have become so confused in popular opinion that the distinction must be stressed.
Splitting and gradual divergence of genera is exemplified very well and in a large variety of organisms.
Recognition of this kinship with the rest of the universe is necessary for understanding him, but his essential nature is defined by qualities found nowhere else, not by those he has in common with apes, fishes, trees, fire, or anything other than himself.
Certainly paleontologists have found samples of an extremely small fraction, only, of the earth's extinct species, and even for groups that are most readily preserved and found as fossils they can never expect to find more than a fraction.
Every paleontologist knows that most new species, genera, and families, and that nearly all categories above the level of family appear in the record suddenly and are not led up to by known, gradual, completely continuous transitional sequences.
Now we do have many examples of transitional sequences.