Are gestures learned or innate?

My pediatrician mentioned how my son doesn’t use gestures (specifically pointing, and waving)- but I stay at home with him and my husband works at home. We are much more movers than pointers. If we want something we just get up and get it. My son does this as well. He gets up and gets what he wants or brings us what he wants. We never point. Also since we both are at home, we never really wave bye or hi either.

I’m wondering if my son doesn’t do those gestures because he doesn’t know what they are since we never do them?