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• Two new cosmogenic isotope analyses were performed on rocks from Mount Sharp. • Low 36Ar abundance suggests recent (≲1 Ga) water-rock interactions. • These rocks likely were exposed >1 Ga, compared to <100 Ma on the crater floor. • Episodic intense erosion likely drives landscape change in Gale crater. • Ongoing erosion rates suggest Mount Sharp formed during the Hesperian. The erosion rates and mechanisms operating on Mount Sharp in Gale crater, Mars were assessed via experiments performed by the SAM instrument to determine the cosmogenic noble gas contents of Murray mudstone formation samples Mojave 2 and Quela. Previous measurements of samples from the Aeolis Palus depression between Mount Sharp and the north rim of Gale crater indicate that scarp retreat-generated surfaces formed within the last 100 Ma. In contrast, Mojave 2 yielded exposure ages of 1,320±240 (3He), 910±420 (21Ne), and 310±60 Ma (36Ar). Quela gave a 3He age of 1,460±200 Ma; 21Ne and 36Ar from this sample could not be quantified due to isobaric interferences. The discordant and young 36Ar exposure age in Mojave 2 is likely the result of interaction with water which dissolved the chlorine-bearing host phases of this nuclide. The most probable exposure scenario is that both Mojave 2 and Quela have been at the surface for the most recent ∼1 Ga after the overlying few meters of rock were removed in a geologically rapid exhumation episode. Based on local geomorphology, scarp retreat is the most likely mechanism for the exposure at these two sites. The exposure ages measured throughout Curiosity's traverse indicate that the net removal of rock has proceeded more recently on Aeolis Palus than on the lower slopes of Mount Sharp. The implied differential erosion rate is insufficient to explain how Mount Sharp formed, even over billions of years. Instead, given that the surfaces on Mount Sharp have existed for >1 Ga, the mountain must have formed early, likely during the Hesperian. This study provides direct quantitative support for inferences based on crater counts that Mount Sharp had eroded to close to its current form before onset of the Amazonian. [ABSTRACT FROM AUTHOR]