Living Together is a loaded term suggesting peaceful coexistence. I think it's much more likely each species/sub-species in turn drove each other out of a desirable habitat over a very short period of time, in geological time. But 10s of thousands of years is a long time for individuals and clans. The different species may have never even seen each other.

The actual paper Contemporaneity of Australopithecus, Paranthropus, and early Homo erectus in South Africa does not suggest any of this.