As @Frank1 said, I think the above idea is still a nice option, especially if you have a laptop. I’m using a desktop now, and I don’t find this idea to work very well for me. This is because my desktop’s keyboard and display do not align as nicely as they would with a laptop.
Also, I’ve been working on a Touch Bar alternative BTT preset here. It started with Floating Webviews, but I’m working on converting the preset to the newer Floating Menus. Scroll down to post #21 to find the most recent preset.
Of course, it’s not a complete replacement for the Touch Bar, and it’s a work in progress, but it might be interesting to some of you in this thread.