Berry
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When we talk about signing as a "language" with all the inherent properties that entails (morphology, phonology, grammar, etc.), sign language is created, sustained, and developed by the native signers of the group (whom are almost always Deaf).
Now, perhaps you are talking about prehistoric times? I've heard this theory hypothesized--that the human capacity for language evolved before the vocal folds, and thus prehistoric humans communicated using sign language. I have not seen much evidence for it though, but I'd be curious to learn about it. Seems very plausible. However, there is an opposing theory as well that claims the vocal folds evolved first, thus creating the capability for language.
More to the point, I would think, is when Broca's area developed in humans. As both vocal and visual communication are processed in this area it is reasonable to assume they both developed at the same time.