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Lamprey and sharks lack bones, but does this mean they are not classified as having an endoskelton? Does an organism need bone to be considered as having an endoskeleton?

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From wikipedia

An endoskeleton (From Greek ἔνδον, éndon = "within", "inner" + σκελετός, skeletos = "skeleton") is an internal support structure of an animal, composed of mineralized tissue.

Cartilage is a mineralized tissue so it counts as a skeleton from this definition. A bit further in the wikipedia article it says

The vertebrate endoskeleton is basically made up of two types of tissues (bone and cartilage)

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