And so is the case of Herakles/Hercules. The Romans name him Hercules because of phonetic evolution, not because they were fond of just renaming everything in every culture they met. In both cases, Hercules and Ulysses were names used by the Greek themselves.
I can't speak to Ulysses but this isn't quite right re: Hercules. The Greeks were still calling Herakles Herakles very long after the Romans started calling him Hercules. You can see this inscriptions very clearly.
Further, many Romans were also calling Herakles Herakles (or Heracles) at the time other Romans were calling him Hercules, and used a pretty wide variety of other names, some containing hercl, some containing heracl formations.
Also it seems like you're saying "Greeks called Herakles Hercules", but that is
definitely incorrect if so, like that has never been the case, and I don't know why you have that idea. In fact, the Greeks had event and place names also based on Herakles and consistently stuck with that formation ("herakl"). You may be confusing this all with the Etruscans, who you can think of as proto-Romans. They called Herakles "Hercl" and the Roman approach comes from linguistic evolution from that, not Greek linguistic evolution.
So like, we cut to like 50 BC, Romans are generally saying Hercules or a variant thereof (though some more educated Romans or Grecophile or just Greco-Romans are saying Heracles), but people in Greece are still saying Herakles. They are not saying Herkules (it'd be very funny if they were I admit) let alone Hercules (they didn't have a c at that point, and the two letters they sometimes wrote in a c-like way weren't the hard k sound).
TLDR: No, it's not linguistic evolution from Greek, and no the Greeks did not use Hercules.