How do I make the Type Layer Properties Panel be a pop-up window in PS 23.1.0?

You can also insert the Character and related panels into an action, then call the action via an F-key shortcut applied to the action.

Another option is to call it via a JavaScript, where one can apply a custom keyboard shortcut to the script via Edit > Keyboard Shortcuts

app.runMenuItem(stringIDToTypeID('toggleCharacterPalette'));

In Ps 2019 and Ps 2022 you can do the same, make the panel in the dock, collapsed or floating. It is the same in the 2 versions.
Let us know if you can not click and drag the name of the panel to move iit anywhere:

And click the two small arrows in the top right of the panel to collapse it to make it a small icon to add it to the skinny bar you are talking about:

Click and drag it to make it smaller:

Click and drag it to the bar: