did humans really evolve from caterpillars?

No. We share a common ancestor more recently with echinderms than with insects. Echinoderms include starfish, sea urchins, sand dollars, and sea cucumbers. Adult echinderms don't resemble chordates, but the larvae of some of them do. That means we may have evolved from an echinoderm larva through a process known as neoteny, or the retention of juvenile characters in adults. In other words, our ancestor was an echinderm larva that never became an adult echinoderm, but lived its whole life as a larva. Later, it evolved instead into chordates. Humans evolved from an ape, and we last shared an ancestor with echinoderns way back in the Cambrian, or more than half a billion years ago.

No. Caterpillars are the larval stage of butterflies and moths. Butterflies, moths and other insects are part of a large group called the Protostomes. The group of species which includes us is the Deuterostomes. Protostomes and Deuterostomes diverged from a common ancestor that lived about 600 million years ago. We are not descended from caterpillars, We, together with caterpillars, are descended from that common ancestor.

No, humans and caterpillars evolved from a common ancestor.

That's not exactly how things work. Think of it like this: You make two recording of your voice. Then four recordings of each recording, then two recordings each of all those recordings, and so on, so forth... That is evolution greatly simplified. Now, people are a recording, of a recording, and so forth from way over here. It will sound vastly different from that recording of a recording and so forth from an entirely different recording from a while back, and obviously, even though originally that was a recording of your voice, way down the line in a million different directions... One is not actually a product of the other. I hope that helps a little.

Every living thing on this planet is related to one another on some level. To me this is a more revealing and spiritual revelation then any holy scripture I've ever read.

erm for you yes cuz you have obviously been eating leaves for the past ten years of your life, so now be a good boy and lock yourself in a chrysalis and never have any contact with the outside world. Who knows, u might become a butterfly!

Centipedes.

No but all life on this planet has a common ancestor.

No, if we had, we would have lots more arms and legs. We had a common ancestor , a protozoa, with no arms or legs, in the primeval soup

Do you know about the evolution of man? We all have a common ancester.