We need to read the passage with Peter and Cornelius in context. Cornelius, we must remember, was a pagan Roman before meeting Peter, a man well accustomed to worshipping people - eg Emperors - as gods.
We also need to note that Peter doesn’t tell Cornelius not to kneel or kiss his feet or what have you full stop. He tells Cornelius not to do these things BECAUSE ‘I am a man as you are’. The implication here is that Cornelius thinks Peter is MORE than a man, that he’s trying to worship Peter as a divine being.
The OT is full of instances of people bowing or making other gestures of respect to each other (take Jacob who bowed seven times before Esau his brother). There’s no implication of worship in the act itself of kneeling or bowing, or any other act, it seems.
