For Star Trek, in-universe this happened at least twice. The relevant episodes are TOS 2x22 Return to Tomorrow [0] and TNG 6x20 The Chase [1].
VOY 3x23 Distant Origin [2] also in-universe establishes convergent evolution is very likely to create humanoids (makes no reference to the other two episodes, as far as I remember, but it's kinda wishy-washy in that it could be highly likely because of the two progenitor species).
That said, there's plenty of non-humanoid aliens. Off the top of my head: Q, the Tholians, the Caretaker's species, the two aliens from TOS 2x01 Catspaw (shown to be tiny and kinda birdlike in the final scenes), and Species 8472.
Oh, I was referring to progenitor seeding specifically. In terms of interbreeding, there's a few more prominent ones: Spock, B'Elanna Torres, and Alexander Rozhenko and B'Elanna's daughter (who are respectively 3/4 human and 1/4 human, showing there likely isn't an infertility problem like with mules [0]).
(Though I admit that the ENT example was certainly unique in the differing biologies)
Dangit I changed the order of "Alexander Rozhenko" and "B'Elanna's daughter" to make it clear they're not related, and forgot to switch the 3/4 and 1/4. Alexander is 1/4 human.
I kid; I know you said "at least".
[0]https://memory-alpha.fandom.com/wiki/Unexpected_(episode)