I touched on it before but it something that I don't think really gets touched on by anyone talking for or against the Cambrian Explosion, or evolution at any other time in history, is that: lifespan makes a huge difference. And finding out about the survivorship curve made me think on it:
Now there are three types of survivors: Type I, Type II and Type III.
Type I is the group that has few offspring, but they care for them greatly so as to limit infant mortality, and have a good survival range into the mid to late years of life before drastically dropping. In the example above, humans.
Type II is the group that has a kind of constant mortality/survival range across the whole board. Animals that normally only have a few offspring per brood and vary between looking after them or letting them fend for themselves after a certain age. In the example above, songbids.
Type III is the group that has the highest mortality rate but also the longest survival rate, especially among offspring since they produce so much offspring at one time, but those that do survive to adulthood tend to live very long lives. Frogs are the example given.
Now, birth rate and survival rate is a selection pressure in evolution, since the animals that live to the oldest age are the ones that are physically strongest in the face of the environment and thus would stand a better chance at achieving when looking for a mate. Thus, they will reproduce and carry on their genetic legacy. But, such creatures from Type III will not always be long-lived creatures either, which means their generations will be invariably shorter than those in Type I. It's estimated in regards to trilobites that their age range was up to 10 years, and if, for the sake of ease, that we assume that trilobites reach sexual maturity within their first year of life (based on other animals that only live up to a decade), that means that a trilobite would be producing offspring very quickly. However, since we've not found any fossilized examples of trilobite offspring or eggs (since if we follow the same line as other hard-shelled arthropods, then both will be extremely soft), we can't actually tell if they fall into Type II or Type III on the survivorship curve.
I've kind of partially lost my train of thought here, but I will summarize that, 20 million years is more than enough time with regards to evolution when you have creatures that are able to produce offspring in their first year of a life that only spans a decade, and I don't imagine that other Cambrian lifeforms would be too dissimilar.