Do you mean changed since ~200,000 years ago from the first Homo Sapiens?
Seeing as all humans in the world have quite similar genitalia, I’d say not much has changed since we’ve diverged from our common ancestor 200,000 years ago (although there are variations of size in different populations, different pigmentation, and different proportions e.g. for nipples in different populations)
Our genitalia are a [bit different to those of Chimpanzees and Bonobos](https://carta.anthropogeny.org/moca/topics/penis-size-and-morphology%5D, our closest relatives among other species (we’ve diverged 8-12 million years ago).
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