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Chelonian synamorphies clearly define their clade but the phylogenetic relationship between turtles and other clades has changed many times as discussed here in the Tree of Life.

 

Phylogeny of Amazonian Turtles
Sub Order Family genus species

Pleurodira

 

Podocnemididae

(Side-necked turtles)

Podocnemis expansa
unifilis
sextuberculata
erythrocephala
Peltocephaus dumerilanus

Chelidae

(Austro-South American side-necked turtles)

Platemys platycephala
Rhinemys rufipes
Phrynops geoffroanus
Mesoclemmys raniceps
gibba
Chelus fimbriata

Cryptodira

Geomydidae

(Eurasian pond and river turtles and Neotropical wood turtles)

Rhinoclemmys punctularia

Testudinidae

(Tortoises)

Chelonoides denticulata
carbonaria

Kinosternidae

(Mud and musk turtles)

Kinosternum scorpiodes

 

Family Tree (Phylogeny)