Kinabalu has some nice looking rock and I'm sure there would be routes up there.
The tricky bit would be getting through the gate at the bottom of the walking trail. Once you're through I think you could find a climbing area without being disturbed (most tourists stick to the one path, although there is a guided via ferrata).
Some friends of mine ran up and down in a day, so I think it's possible to get in without a guide (they didn't have a guide running along behind when I saw them).
As for specific route discriptions/locations; sorry, can't help you out as I was just walking and envisaging the potential.