xfce4-display-settings: Automatic panel-profile switching
Automatic display profile switching is already there. Panel profiles are also there but can't be switched automatically. Please add the automatic panel profile switching in accordance to the automatic display profile switching, maybe like this:
Add an option to xfce4-display-settings -> Advanced, right after the existing option for "Automatically enable..."
Connecting Displays
Automatically enable profile when new display is connected [x]
**Automatically enable panel-profile when new display is connected [x]**