Gliding has evolved many different times in many separate reptile lineages.
The earliest known gliding reptiles were the weigeltisaurids, which lived in Pangaea during the Permian. later, the Triassic gave rise to Sharovipteryx and the kuehneosaurids. The Triassic also gave rise to pterosaurs. The earliest pterosaurs were likely gliding reptiles, but they soon gained the ability to actually fly.
During the Jurassic, several dinosaurs gained the ability to glide, setting the stage for flying birds.
Modern gliding snakes and gliding lizards evolved separately, much more recently.
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