my son wasnt much of a climber. i hear moms on here talking about "so-and-so climbed out of his crib, we can't get him to stop!" or "my 18 month old climbs all over the furniture and i have 2 other kids so i can't keep an eye on him, help!" and i have no idea what they're talking about lol.
assuming your pediatrician is aware of the bow legs and you're on top of that, i don't see a need to worry. some kids aren't as adventurous...mine never was. also, kids learn things at different ages. my son was an early walker (9 months) and some things he just didn't have time for during that period. then once he got walking down, he started doing other things more. you mention she loves scribbling, is social, etc...i am sure that she is fine. don't "tell" her to climb. kids do what they are comfortable with. just like if you are at a playground, don't put her on things, if she's not climbing on them, it's because she's not ready. she will do it when she is coordinated enough to do it safely. until then it's actually more dangerous to push her if she's not ready.