Well, at first I thought that as cool as this is, it's a little too far fetched; however, in the Wenja Phrasebook, it's stated that Urki is a direct ancestor of Hurk.
So, this could very well be, but as someone else mentioned, technically they are everyone's ancestors, thus, after years of mixing with other races and probably the occasional uncle grandpa situation, it's totally plausible. All it would take it a confirmation from Ubi and it would be canon.