The notion that dinosaurs would still be the apex (collective) species on Earth today if the Chicxulub Impact didn’t occur just doesn’t seem as obvious to me as it seems to others, for a number of reasons.
First and foremost is the fact that before impact, non-avian dinosaurs were on the decline, while mammals were on the incline. Sure, dinosaurs dominated Earth for ~165 million years prior to impact, but their environment was dino-lifestyle-favorable and mostly homeostatic during that 165-million year reign. They adapted and evolved, but they did so slowly and steadily.
It’s also important to note that the bolide impact didn’t just affect dinosaurs, it also wiped out ~75% of the avian dinosaurs (birds) and ~90% of the mammals. Had those 75% / 90% lived, they too would have continued to evolve, and further compete against the non-avian dinosaurs. Had the pre-impact dinosaur-decline trend continued (mainly due to cooling climate and other environmental changes), I believe the dinosaurs would not dominate Earth today. Mammals (or possibly birds) would dominate, it just would have taken a bit longer than it did with the Chicxulub Impact.
I think it’s fair to say that warm-blooded animals adapt and evolve more quickly and effectively than cold-blooded animals. For example, cold blooded (ectothermic) crocodiles existed on Earth virtually unchanged for 200 million years. That’s fine because their habitat didn’t really change all that much for 200 million years. If it did change significantly, they would probably have gone extinct—because they’re stupid and slow-to-change.
Mammals and birds are warm-blooded (endotherms). Warm-blooded animals adapt and evolve quickly. Reptiles and amphibians are cold-blooded (ectotherms). Cold-blooded animals adapt and evolve slowly. Non-avian dinosaurs are now believed to be mesotherms (in between cold- and warm-blooded). They can adapt and evolve more quickly than cold-blooded critters, but less quickly than warm-blooded critters.
My bet is on mammals for the world domination win, with a side-bet on birds. Betting on dinosaurs for the win is like betting on a sway-back nag…IMHO.