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You can just put your finger on the volume or brightness icon and slide it. You don’t have to pick it up or wait for the slider to appear.

You can also set the esc key to stay visible.

yeah I downloaded Dock to display my dock and esc key at all times.

Thank you for the tip. Knew you could use the slider but thought you actually had to be on dot, feel so dumb. Never tried sliding in place!