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That's already an option you can set, since at least El Cap.

I would guess the reason that auto-hide is not switched on by default is that it’s jarring and ugly to have it appear and disappear.

With scrollbars, auto hiding /re-appearing isn’t even something I notice happening.

Browsers on mobile devices already do this and it's infuriating

Having to scroll to get any controls to appear is such a mediocre UX

I just tap the address part of the top bar and it appears. This is different from a top of screen tap which scrolls to the top.

huh, I never realized tapping the address was separate from tapping the top of the screen

> I just tap the address part of the top bar and it appears

Yet another unintuitive undiscovered feature because Apple decided to change 20 years of best practices

This was possible back in 10.5 and 10.6 already.