It is extremely annoying that the touch bar just goes away itself after a while of inactivity. I just found that tapping one location of the touch bar would not only keep it awake but does not affect any other function of it at all (except three/four fingers drag, great if that can be fixed as well).
There are some method online to trigger mouse move or a key stroke, but I found them interrupts my works a lot and therefore not useful at all. I would be great if we can trigger a tap on the touch bar to trick the system.