Rural commuter sees large animal shift from quadrupedal to bipedal movement witnessed in Lincoln County, Oklahoma

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In 2002, in early fall (it was still nice outside) I was driving to work. Ahead of me, on the crest of a hill, I saw a creature crossing the road. It did not remind me of a monkey. The legs and torso were too long. It was on all fours at first; the limbs were substantial. It was covered with dark brown longish hair. It started across the road on all fours; the back limbs looked about the same length as the front limbs. It was not great big and bulky; however it was of considerable size. There was quite a bit of room between the stomach area and the ground. Very tall in that way. After a few steps, it stood up and took a couple of huge running steps, as if trying to hurry up. Then it leaped up over about a 6' embankment and a fence. I went back later on after work to the site, and there were numerous footprints of all kinds of game; obviously it was a frequently used crossing for all sorts of animals.