There are many evolutionary advantages to walking upright which would have made it favorable to walking on all fours.
First, in big open fields with tall grass it is more of an advantage to be able to see over the grass to be able to track predators. If you can see them beforehand you will be able to run away or fight back before they get close.
Second, once we were able to evolve hands we could made tools that would make hunting, eating, drinking, and surviving much more easier.
Third, it is easier to fight against predators when you have two feet and two hands. We can throw rocks or hit predators with sticks which would make them back off.
This helps the argument greatly.
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