I read it in about 2015. It seemed to have been written fairly recently.
The story starts some generations after the initial two people were trapped on the planet. About a hundred people are descended from them. One of the original two people was black, the other white.
Sometimes the older people have ceremonies where they show toys their male ancestor made. A car and a house among others. They do not remember what these items are supposed to be.
There is geothermal heat on the planet and some trees produce light.The people eat animals including centipede like ones they do not much enjoy, but they are now short of food. Food is stored overnight in hollow logs.At the beginning of the story the entire population lives close together in a forest.
The protagonist has a younger brother who cannot walk very well. This younger brother domesticated a large hairy animal and rides it. He calls it a horse because of stories about earth.
They go on a long journey including crossing high mountains with the 'horse.' At one point someone finds a huge body of water. He remembers that this is called a C but noone now remembers what the C stood for.
A significant number of the people have a cleft palette. One of the two original people had an aunt with a cleft palette. These people are called bat faced people. The males with cleft palette are unhappy that women do not want to sleep with them as they do not want children with the condition.