The last time this came up on HN (that I read) someone recommended Pock, so I'll pass on that recommendation.
This takes the touchbar from 'annoying' to 'ok this is kind of useful actually', for me at least. I spend a lot of time on a keyboard + trackball combo, but keep my laptop propped a bit for TouchID, zooming, and one or two other useful idioms.
I've been hiding the Dock for a solid decade, and it's a more useful default than, say, the illegible window snapshots Safari insists on offering over the obvious choice of favicon + a few letters of the title.
It's baffling to me that none of Chrome, Firefox, nor Safari, offer that interface for the touchbar on Mac.