Earlier quoted context omitted.
I think it’s that all the worlds were seeded by some sort of progenitor race millions of years ago. Also they can interbreed I believe.
For Star Trek, in-universe this happened at least twice. The relevant episodes are TOS 2x22 Return to Tomorrow [0] and TNG 6x20 The Chase [1]. VOY 3x23 Distant Origin [2] also in-universe establishes convergent evolution is very likely to create humanoids (makes no reference to the other two episodes, as far as I remember, but it's kinda wishy-washy in that it could be highly likely because of the two progenitor spec…
Sometimes real constraints (eg costuming/budgets/etc) can result in really clever explanations that strengthen the storytelling/worldbuilding.