The research seems to indicate that the overlap was from ~150,000BC until the QME crash ~10,000BC that you describe.
So, the answer would be "for the majority of anatomical Human's history until they all died off"
>Early modern human (EMH) or anatomically modern human (AMH)[1] are terms used to distinguish Homo sapiens (the only extant Hominina species) that are anatomically consistent with the range of phenotypes seen in contemporary humans from extinct archaic human species. This distinction is useful especially for times and regions where anatomically modern and archaic humans co-existed, for example, in Paleolithic Europe. Among the oldest known remains of Homo sapiens are those found at the Omo-Kibish I archaeological site in south-western Ethiopia, dating to about 233,000[2] to 196,000 years ago,[3] the Florisbad site in South Africa, dating to about 259,000 years ago, and the Jebel Irhoud site in Morocco, dated about 315,000 years ago.
This is THE most important distinction to make as people seem to think that Humans prior to the year zero were neandertal or some proto-human
Humans just like you and me are about 200,000 years old
https://www.csus.edu/indiv/k/kusnickj/geology105/modelpaper....
[1]https://www.sciencedirect.com/science/article/pii/S027737911...
[2]https://www.science.org/content/article/last-lonely-woolly-m...
Meanwhile africa didn't have this extinction event and their megafauna is still intact regardless of humans. Well, now with gunpowder and whatnot they're threatened but it's not like stone age hunter gatherers had guns to shoot mammoths with.