Not a biologist, but been around them long enough.
I been cultivating a theory that mammals strategy
is more or less "go fast; break things".
That is, asteroid or not, we were on track to out evolve
everything that came before by extending and exploiting
explosive cell growth. No animal converts matter & energy
to body-mass faster than young mammals, the cold blooded
do not stand a chance. The competition would get larger
eventually only if some adolescent mammal did not
eat them first as peers.
consider how you would bet on
a 1 year old raccoon
vs
a 1 year old alligator
then again with
a 5 year old raccoon
vs
a 5 year old alligator
The mammal strategy traded the long game for the quick win.
We have all sorts of (genetic) machinery who's function is to grow fast
but then STOP as we can't support gigantic sizes.
(Maybe in part because of the quick and dirty foundations
but thermodynamics have scaling issues too)
So we need to shut of all those machines before we get too big.
And so here we happily sit in our bodies, our mammal factory
and everything is great; just don't push that big red button
over there, or pull that lever or that one or that one or ...
eventually if you live long enough some of those buttons will be pushed
and the mammal machinery will do what it evolved to do.
grow fast and break things.
A final observation on humans in particular, recently bipedal,
have not gotten all the bugs worked out on that.
Deployed a monkey patch for dimorphic gender singling
requires cron job flipping on a subset of growth machinery
some years after the main global shutdown but only flip them on
for a season or so;
still seeing evidence of switch bounce issues, see ticket BCRA1.