As Darwin observed, natural selection leading to adaptation of individuals and populations is occurring gradually and all the time. But over very long spans of time, the major channels of genetic organization, organism form, and the different ways organisms develop arose as outcomes of history-dependent variation that is now channeled, or constrained, within different groups of organisms.
For example, most cats look like cats, develop like cats, but have a fossil record that begins from less than cat-like ancestors. So do snails, and crabs, and so on.