It’s also worth noting that, where it offers a survival advantage, simplicity is just as merrily adopted. The obvious example is
Sacculina barnacles. Barnacles are arthropods -- fairly ‘advanced’ critters with a hard exoskeleton. Yet
Sacculina adults are little more than jelly-like blobby endoparasites of crabs, resembling with their root system that spreads through the crab some sort of simple plant. See eg
here. Only in their larval stage is their arthropod affinity apparent. Compared to ‘normal’ barnacles, they are very simplified.
Is a two-legged creature ‘simpler’ than a four-legged one? I’d have thought so -- it’s got fewer parts. Yet cetaceans have lost their back legs through evolution, and snakes, caecilians, amphisbaeneans and so on have lost all four limbs. Evolution will go for simplicity too: there’s no inevitable climb to greater complexity.
Cheers, DT