Well, I think we have next to no information about language development for 195,000 of those 200,000 years, so we don't a much reason to believe anything.
I'd speculate that since language skills are important, evolution would have worked to increase them over that era.
I don't know much about human evolution and history... However, if language skills evolved after humans left Africa then I'd expect them to have evolved a bit differently in different local populations. Yet innate language skills seem to be the same everywhere. So I would guess that innate language skills haven't changed much in the last 100,000 years. So I would guess that people have been speaking languages like today's languages (in all their glorious variety) for the last 100,000 years.
I'd speculate that since language skills are important, evolution would have worked to increase them over that era.