You can link a Client Discovery from an RFP. Upon creation of an RFP in the Optional Details portion of the RFP setup or afterward on the Linked Discovery option in the Details tab.
Within Optional Details on setup:
Or the Linked Discovery can be updated in the Details tab within the RFP after its creation:
Once Linked, on your side you will have a link directly into a new browser tab that shows the Outline of the original discovery. Once you have a Closed Discovery you can View the Submissions for your client.
If you would like to see what Vendors see, check out this help article.