This is back from Mountain Lion, so Not sure if this is still the case, but you can set it to only appear after say 1000 seconds...

defaults write com.apple.Dock autohide-delay -float 1000 && killall Dock

to reset

defaults delete com.apple.Dock autohide-delay && killall Dock

https://www.lifehacker.com.au/2012/09/how-to-disable-the-doc...