From the GC-BTT thread - I always thought it was a bug that prevented the apps from opening new windows or restoring minimized windows, but it seems to be an intentional functionality choice to match the behavior of the built-in cmd+tab switcher.
I don't think the precise behavior works as well on the Touch Bar and would love the option to have the switcher open a new a window if the app has none open, or restore the primary open window if it is minimized.