I already said that bowing to people is not absolutely defined as idolatry in scripture.
There is no precedent in scripture for Christians being taught to bow to the apostles, angels, Mary, or any so-called “saints”. This was added later as a man-made tradition which is contrary to the word of God.
So if it is not idolatry, then what is your problem with it? Clearly the problem with those who were rebuked was not with the bowing, but with erroneous beliefs that needed to be corrected.
By the way, further proof that Psalm 99 is talking about the Ark is found in Psalm 132:7-8:
“We will go into his tabernacles: we will worship at his footstool. Arise, O LORD, into thy rest; thou, and the ark of thy strength.”
Also, I see no evidence in Scripture that only Scripture is authoritative. In fact, I see evidence in Scripture of just the opposite. 2 Thessalonians 2:15 and 1 Corinthians 11:2, which both speak about Christian Tradition as being authoritative, and 2 Thessalonians 2:15 specifically endorses oral Tradition.