Setting to make Panel be above windows that are set to Always On Top

XFCE 4.20.x

There is a setting that allows a window to be "Always On Top"
However when you use this, it makes the window end up on top (above) the Panel, which to me this is not desired.
I would like Panel to always be on the highest level above all other windows.
The only time I would NOT want this to happen is if a window/application is set to fullscreen, in this case then yes I would want the Panel to be behind the fullscreen window.
Someone mentioned to try Workspaces - Margins but this did not work for me, does not override the "Always On Top" setting.

Suggesting to add a setting that would make the Panel always highest level even when windows are set to "Always On Top" but this setting would ignore applications in fullscreen.

Thank You

Unless anyone knows if something like this is already possible?
Hopefully this is true, because I am using a Debian Stable based distro so if it is not then will not have access to a setting like this for a few years :)