Hmm. I don't see any reason to think that upright walking is an adaptation that occurred only once.
The general belief in anthropology is that, if a derived feature is formed in similar creatures, it's more likely to happen once before a split rather than independently in several different similar animals. The time frame is just so small that the other way around is unlikely (based on current belief). Not impossible, just unlikely. The best explanation that would have knuckle walking as a derived feature would be something that looks like this:
.........Proto-Ape
.......|..............|
Early Hominid....Early Chimpanzee
...|................|................|
Human........Chimpanzee..Gorilla
In that case, the reason the genetic similarity of humans and chimps is closer than with gorillas is that gorillas split off and diverged to a greater degree than chimps (although I believe current theory would have both change DNA at a relatively even rate so this theory wouldn't make sense).