Auto collapse was a good idea, and probably your best option. I just tried doing it with an Action and it didn't work, so you have limited choice.
If you are working with a desktop system, then consider adding a second monitor, and keep all your panels open on it. I can't begin to tell you how much easier it is to work with dual monitors, and not just with Photoshop. I occassionally go back to the Essentuals workspace to test things, and it is like trying to work with one hand. Monitors are cheap, and pretty much all systems will run a second monitor as standard.