Gray wolves were the first domesticated mammal. They have interacted with humans for thousands of years, with evidence pointed to some time predating human agriculture and occurring in the Old World over 30,000 years ago. There are conflicting views as to how, when, or why the relationship first formed but it is widely accepted that ancient gray wolves and humans not only lived near each other for thousands of years, but they hunted many of the same animals and learned from each other.
This episode is also available as a blog post: http://lynnremmelgas.ca/2022/03/10/where-did-dogs-come-from-a-brief-history-on-the-evolution-of-dogs/