Way to change panel height dynamically when maximizing windows?

Hey! I am new to Linux and really appreciate the beauty/simplicity of the KDE Plasma DE. Thank you devs for making such a dope desktop environment.

I noticed that the floating point panel that I am using has a maximum panel height of 96. The panel stops being floating point when I maximize a window, but when a window is maximized the panel takes up too much space.

(This reddit thread gave some insight behind the possibility of this but it is 2 years old and did not have a definitive answer)
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Is there a way to make it when the panel switches to a smaller height when it stops it’s floating point status/enters maximized window mode?
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If not, is there a way to force scaling on a floating point panel to be below 96?