Depends upon whether biology or outside factors are what's shortening lifespans. The figures you quote (roughly age 10 for puberty and mid-30's absolute max) look like some of the information I've seen on Neanderthals, but the Neanderthals lived under severe environmental conditions which may have caused them to miss their full genetic potential.
As for the vast majority of modern humans, the maximum lifespan didn't exceed the 40's until the 20th century, with improved public health, sanitation, and nutrition being the deciding factors.
OOC: Really? Many people lived into their 60s, 70s, 80s, and even 90s before the 20th Century. Average life expectancy was lower because so many people died at birth or in childhood from various diseases and accidents, but anyone who reached adulthood could count on living well beyond their 40s under normal circumstances.