Actually, that's plenty of time for meaningful evolution in humans too. Lots of changes in general distributions in response to environmental influences occur in that time.
We don’t have any specific genes to point to like with lactose tolerance but humans have definitely coevolved with dogs, especially pastoralists and hunters.
With dogs most of the obvious coevolution has just been cultural.
Not really "evolution" for humans but we wouldn't have things like Chihuahuas or Pugs without humans breeding dogs. https://en.wikipedia.org/wiki/Human%E2%80%93canine_bond