Be careful with your neolithic chronology.  Styles of tools, weapons, habitats, and animal domestication span thousands of years and differ in many locations.  For example, dogs were domesticated between 30,000 BC and 15,000 BC around Eurasia.  And we are talking near relatives of wolves.  Horses around 4000 BC also throughout Eurasia.  Donkeys domesticated in Egypt 5000 BC.

Modern man appeared approximately 500,000 years, although there may evidence of earlier ancestors which may have interacted with Neanderthals.