Bipolar disorder is a real thing. It is caused by an imbalance of brain chemicals, and while you can learn behavioral tools that will help you resist the temptation to do things you shouldn’t, you still may have problems, even with medication and therapy. The doctor believes your daughter suffers from bipolar disorder and so has given that diagnosis. It is possible the doctor is wrong, but I doubt very much that she would falsely diagnose your daughter in order to make you bring her in for visits.
Some bipolar folks hallucinate at certain points in their cycle. My son is one such. Unfortunately, he sees and hears people who try to convince him to be violent. Nonetheless, the police take a dim view of illegal behaviors even if mental illness is the root cause. In addition, people can choose to restrain themselves to some degree.
I suggest that you get another opinion or two from doctors you trust, and learn about bipolar disorder. Then, if you feel that it might be a problem for your daughter, try the medications that are used to help reduce the mood swings of bipolar disorder. Be aware, however, that prescribing these meds is still more of an art than a science, so you need to get your daughter to talk to you about which meds help her and which don’t.
Be aware, however, that folks with bipolar disorder are much more likely to commit suicide than those with normal brain chemicals. Watch for signs of suicide and self-hate in your daughter and get her help ASAP if you see them. Otherwise, you may not have a daughter.