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Fighting and grappling is an instinctive part of the human - the primate, even - experience. Watch bunches of chimps fighting and you'll see striking and grappling there too. It is far more likely that martial art traditions have evolved more or less wherever there are humans because we always fight and there's only so many ways of doing stuff.
This becomes abundandly clear when you watch animals with a roughly humanoid body shape fight each other. They'll actually use the same grappling techniques as humans do.