If there's another planet dominated by DNA based life-forms, it's extremely likely we're going to see familiar body plans. A bipedal stance for predatory dinosaurs was highly advantageous and they ruled the Earth for over 200 million years, along with their 4 legged prey. Then we come along, of course and it does seem like being bipedal is extremely advantageous. I would not be surprised to see aliens in a similar, upright stance. At the same time, even if they started out that way, they might not be shy about genetic engineering themselves and their offspring.
Certain species probably have so much variety that it's not at all obvious they're 1 in the same. People talk about how there's just 1 example of life on Earth to go by, but the various possibilities are very few, of other natural substances Life could evolve from. Silicone life is possible, but the conditions are very specific for that to arise and take hold, somewhere, for example. Cellular life and DNA are very stable. But I would doubt that a primate body plan is universal, or even common.