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Did bilateral symmetry evolved just once?

If I understood correctly, all bilaterians come from a single organism (the Urbilaterian) that showed this type of body plan for the first time at the end of the Ediacaran.

Does that mean that bilateral symmetry evolved just once in the entire history of life? Is it correct to say then that bilateral symmetry is not a feature of convergent evolution? That this is indeed a thing that evolution explored just that time in history and never again?

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