The steam engine was invented in ancient greece. Lost, it was rediscovered by Thomas Newcomen in 1712. Later improved by James Watt, no relation to Darwin.
From History: Lived from ~69 to 66.04 million years ago.
T. rex lived in western North America about 69 to 66 million years ago. All dinosaurs, except potentially three lines of birds, went extinct 66 million years ago, when the Chicxulub asteroid hit.