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I found a very annoying issue about KDE 5.20 is the intrusive panels that appear due to a popup panel that appears on the top that causes a panel being added when you try to remove that popup. It's extremely difficult to figure out how to remove them because there are no answers online on how to do so. I finally figured out how to remove these nuisance panels. Please make it so you can right click on the panel and select remove. Also, please add to settings an option for "not to add panels."

Any panel can be removed quite easily with a right click on it and selecting "Edit Panel"

Are you sure this is about Plasma 5? Our Panels are at the bottom by default, and AFAIK there are no "pop-up panels". Could you provide steps to reproduce this?