Heidelbergensis is the last common anscestor of Neanderthals, Denisovans and us.
We were all around for just as long, 400kya+, and before that, it was Homo Erectus.
All of them, Erectus, Heidelbergensis, Neanderthals, Denisovans and Sapiens were walking around at the same time. There's plenty of fossil records we've uncovered that show that to be true.
It was only in the last 100k years or so that we remained and the other variants "died out".