First let's have diplomatic relations to a few different ones, then we can draw conclusions on whether we are related and to whom.
On the Ancient Aliens thing and others such themes, I will objectively agree that there are many many many things that are not clear in our past, whether that includes aliens or not we can't yet tell.
Subjectively, yes I believe we have been visited by others in the distant past.
On life seeded on our planet by aliens, I would say no.
Biological intervention? Maybe but most probably no (or very limited).
Cultural? Possible to probable.








