Humans have been cooking food for at least tens of thousands of years. The presumed reason why cooking took root in nearly all human cultures is that cooked food is easier to digest. However, cooking food can also generate toxic compounds such as polycyclic aromatic hydrocarbons, which would not be found in the uncooked version of the food. Considering that humans have been eating cooked food for such a long time, I am wondering whether humans evolved any adaptations to eating cooked food, e.g., that certain types of foods, when cooked, are more toxic to our closest relatives (great apes) than they are to humans, because we have more ability to metabolize the toxic compounds.
Humans are incredibly good at processing maillard compounds, which include both beneficial and mildly toxic byproducts of cooking. Humans are better at breaking them down than other animals. This is presumed to be an adaptation to eating cooked food. Malliard reactions are also a good indicator of when most plant and animal products are safest to eat via cooking, (browning) which may explain why humans on average show a preference for them or even adaptations to detect them. we are also learning that one place animal testing may be problematic is in dietary tests becasue of this.
There seems to be evidence that cooked food intake regulates different genes than raw food in mice. Apparently these genes also tend to be human specifically expressed (more precisely, their overlap is more than expected by chance) . While this is not a dramatic finding, it does show association between cooked food and genomic changes that evolutionary adaptation implies.
As for toxicity of certain edible foods to non-human primates, I do not know the answer but I would not expect toxicity. Rather, high metabolic demand of humans might have required more protein based diet which is safer when cooked.