If primates did and hand that fine motor control with digits, then my understanding would be they can write.
"The opposable thumb has helped the human species develop more accurate fine motor skills. It is also thought to have directly led to the development of tools, not just in humans or their evolutionary ancestors, but other primates as well. The opposable thumb ensured that important human functions such as writing were possible. The thumb, in conjunction with the other fingers, makes human hands and those of other species with similar hands some of the most dexterous in the world."
"The most important factors leading to the habile hand (and its thumb) are:
* The freeing of the hands from their walking requirements—still so crucial for apes today, as they have hands for feet, which in its turn was one of the consequences of the gradual pithecanthropoid and anthropoid adoption of the erect bipedal walking gait
* The simultaneous development of a larger anthropoid brain in the later stages
It is possible, though, that a more likely scenario may be that the specialized precision gripping hand (equipped with opposable thumb) of Homo habilis preceded walking, with the specialized adaptation of the spine, pelvis, and lower extremities preceding a more advanced hand. And, it is logical that a conservative, highly functional adaptation be followed by a series of more complex ones that complement it. With Homo habilis, an advanced grasping-capable hand was accompanied by facultative bipedalism, possibly implying, assuming a co-opted evolutionary relationship exists, that the latter resulted from the former as obligate bipedalism was yet to follow. Walking may have been a by-product of busy hands and not vice versa."