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These close relatives, or dinosaur \u201cprecursors,\u201d are typically only documented by a handful of fossils from across Pangea and nearly all specimens are typically missing important regions (e.g., forelimbs, pelves, skulls) that appear to be important to help resolving the relationships of dinosaurs. Here, we fully describe the known skeletal elements of <jats:italic>Asilisaurus kongwe<\/jats:italic>, a dinosauriform from the Middle Triassic Manda Beds of the Ruhuhu Basin of Tanzania. The taxon is known from many disarticulated and partially articulated remains and, most importantly, from a spectacularly preserved associated skeleton of an individual containing much of the skull, pectoral and pelvic girdles, forelimb and hindlimb, and parts of the vertebral column including much of the tail. The unprecedented detail of the anatomy indicates that <jats:italic>Asilisaurus kongwe<\/jats:italic> had a unique skull that was short and had both a premaxillary and dentary edentulous margin, but retained a number of character states plesiomorphic for Archosauria, including a crocodylian\u2010like ankle configuration and a rather short foot with well\u2010developed metatarsals I and V. Additionally, character states present across the skeleton of <jats:italic>Asilisaurus kongwe<\/jats:italic> suggest it is more closely related to <jats:italic>Silesaurus opolensis<\/jats:italic> than to dinosaurs; thus suggesting high homoplasy and parallel trends within Silesauridae and within lineages of early dinosaurs. The anatomy of <jats:italic>Asilisaurus kongwe<\/jats:italic> and detailed description of early members of clades found outside Dinosauria are clearly needed to untangle the seemingly complex character evolution of the skeleton within avemetatarsalians. Anat Rec, 303:813\u2013873, 2020. \u00a9 2019 American Association for Anatomy<\/jats:p>","DOI":"10.1002\/ar.24287","type":"journal-article","created":{"date-parts":[[2019,12,3]],"date-time":"2019-12-03T23:48:52Z","timestamp":1575416932000},"page":"813-873","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":52,"title":["The Anatomy of <i>Asilisaurus kongwe<\/i>, a Dinosauriform from the Lifua Member of the Manda Beds (~Middle Triassic) of Africa"],"prefix":"10.1002","volume":"303","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7017-1652","authenticated-orcid":false,"given":"Sterling J.","family":"Nesbitt","sequence":"first","affiliation":[{"name":"Department of Geosciences Virginia Tech  Blacksburg Virginia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Max C.","family":"Langer","sequence":"additional","affiliation":[{"name":"Departamento de Biologia Universidade de S\u00e3o Paulo  Ribeir\u00e3o Preto 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