Both series influenced each other. If you've played Tomb Raider Legend, you can see how it influenced Uncharted 1's movement and platforming (ledge auto grab + general platforming). Some of the gadget stuff too. Tomb Raider (2013) was obviously influenced by Uncharted as well, from the combat to the action set pieces (temples collapsing and shyt).
The game medium is starting to mature so at this point there's nothing wrong with a game borrowing another game's mechanics. It'd be complaining in the 1960s that a horror film utilized another horror film's camera techniques and editing techniques. I mean, there's only so many ways you can design a game based around guns/platforming/treasure, so the games are bound to be similar at some point.