There's a new soon to be hot (I predict) topic in AI/ML called inductive bias. It turns out that the way your neural net is structured, i.e. the overall shape and the way the neurons are connected, can strongly bias which information the neural net tends to learn, and how quickly. To the point that there was a paper (can't find it now) where IIRC the authors were able to develop an algorithm which creates neural nets which can solve basic problems with little to no training. Point being, you don't need to encode, say, the image of a nipple and the action of suckling in DNA to create innate suckling knowledge - you simply need to structure the brain such that it is biased to perform and learn certain sequences of behaviors.
I think this may be the origin of much if not all innate knowledge and I believe that research in AI/ML will lead to better understanding of human (and animal) cognition.