May I point out that external similarities are about the worst possible way to define similarities between species? Take the sharks and the dolphins for example. Both have long sleek body, two eyes, sharp teeth in a mouth, a tail fin, back fin and two main side fins. However, internally they are much different - more different than a giraffe and a mouse are from each other.
I know they are both vertebrates and have common origins to relatively late in the evolution, but the point still stands - dolphins line of evolution includes life forms much unlike sharks, yet they have evolved into much similar form due to similar environment.
Anyway, about the only thing we know about Vasudans is that they have a torso, two legs, two arms, a head with visible mouth, eyes and some other stuff (possibly ears and/or olfactory organs), and they are big and bloody strong. They also likely eat proteine based stuff like headz and fishes. But we know practically nothing of their metabolism, inner organ structure, central nervous system specialities and stuff.
Given the fact that they can obviously tolerate such deadly and corrosive materials like oxygen and dihydrogen monoxide in atmosphere, I'd say also that their metabolism and structure is based on carbon cycle, likewise to us. That is another very likely thing in extra-terrestrial life forms, and it is one similarity to begin with - carbon is about the best suited basis for life there is in the universe, assuming the laws of nature are similar everywhere. But I slightly digress...
I already pointed out that since Vasudans and humans can pretty comfortably co-exist in similar atmosphere, it means that chemically Earth and Vasuda Prime aren't fundamentally different. And, despite different origins, similar environments give advantages to vaguely similar solutions, which means that perhaps, just perhaps, it is generally advantageous for higher ground animals to have bilateral body symmetry, strong endo-skeleton, a torso, four limbs and a head. More limbs is obviously possible, but due to very likely existence of symmetry, they would add in pairs with very high probability. And you have to consider, would extra limbs offer significant advantage to a ground animal? In most cases they would just be a burden to grow. Which means that those big animal types with more than four limbs would have hard time growing up which would put them into a disadvantage if there perhaps was other big animal types with other number of limbs on the same region/planet. Again assuming that symmetry is as common in universe as in Earth, four limbs is pretty much the most likely number of limbs for a big ground animal to have evolved with.
As for anything but the very basic humanoid form, we know nothing of Vasudan evolution and what they have been before evolving into what we see in the game.