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Thanks for reaching out. As of now, we don't have the option to detach those panels and make them float freely, however, we have received a similar request on XD UserVoice page: https://adobexd.uservoice.com/forums/353007-adobe-xd-feature-requests/suggestions/12953202-detach-fl...
Please vote for the request to add voice to the feature. This is the best way of sharing feedback with the Product Management Team.