Not at all but a little bit yes.
Evolution is part chance but mostly not.
That is, the mutations in DNA are happenstance, but whose adaptations get passed on is not.
For the most part, only genetic mutations that are neutral or advantageous have a high chance of being successful, so it’s not so much chance as what works in that environment. If it works or has no major effects, it gets passed on, if it’s very negative it typically gets weeded out over time.
That’s why people with degenerative disorders or unique health problems are rare – in the environment our species is adapted to, the odds of you surviving long enough to reproduce are way smaller if you can’t feel pain or are allergic to sunlight, so those quirks in your DNA are far less likely to be passed on.
Drinking milk past infancy, for example, is a fairly new ability that we’re still in the process of evolving. Drinking milk past infancy is an advantage because it’s an extra source of energy, so those of us able to process lactose in adulthood have a source of nutrient-rich energy that lactose intolerant members of our species do not. If a time of starvation comes, those of us able to ingest dairy without getting sick have a way of getting food that certain members of our species do not, so we’re more likely to survive.
Our bipedalism comes from the time we lived in grasslands, where seeing over the grass to keep an eye on predators is a massive advantage. If you look at grassland creatures, being tall is a common theme.
This also why certain body plans recur across time in entirely unrelated species: what works for that niche is what’s successful because, well, it works.
A great example of this is pterodactyls,
They’re not closely related to each other at all, but they all feature those little hooks on their wings because at one point they all covered the same niche and used those appendages for climbing up trees like teeny grappling hooks when evolving the ability to fly (well, Archaeopteryx was smack dab in the middle of bird evolution for flight, so they themselves never could fly).
Another example of this is mudskippers vs tiktaalik, both of which also share the same niche (albeit millions of years apart):
^ a reconstruction of tiktaalik