Since SIV has existed for a long time, why did HIV-1 only jump to humans in 1931?
You could ask the same question about why H5-N1 bird flu, SARS, or Ebola infected humans recently. Viruses evolve in animals & humans all the time. It’s impossible to say for sure why a virus jumps to humans at a particular moment and why it does/doesn’t become permanently established within the human population. It may have mutated making it more capable of infecting humans, or humans may have had increased contact with source animals due to population growth, and travel may help it spread.