Researchers at the Institut Català de Paleontologia have determined that Ampelomeryx ginsburgi, a Middle Miocene giraffe relative found in Catalonia, reached skeletal maturity at three years old.
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How the Ampelomeryx grew: Discovering the life history of a giraffe relative that lived in Catalonia

Ampelomeryx Ginsburgi Species studied
3 Years years Age at skeletal maturity
~2 Years years Age at reproductive maturity
Els Casots, Catalonia Discovery site