Sorry but this is quite wrong. There ar emany debates to be had about what we are primed withy but various behaviours, preferences, attentional biases, stimuli responses, etc are certainly inborn.
Certainly, but swinging doesn’t appear to be one of them. You could argue that all mammals share the same basic set of rewards, and that one of them is reward for pushing the envelope of physical excellence. There is a wide variety of observable behavior in different mammals that either needs to be explained by a large number of specialized rewards or one very general one.
Humans definitely evolved from a branch of primates to be much more plains bipeds--and then to other things (but I can't debate if the subsequent change and diversification is really evolution or some less major adaptation). Humans have many of the biological features of apes consistent with being comfortable climbing trees although much less optimized at this point.