Like on Windows? The ability of the taskbar on Windows?
Anyhow, you can choose to Minimize to Dock Icon by opening the Dock preferences to reduce clutter on the right-hand side of the Dock.
You can use an application called
Witch from Many Tricks. This gives you much control of Command+Tab should you choose to replace the built-in Command-Tab in macOS. I use that method for controlling windows and what not in macOS
I read the people recommend
AltTab, an application that I haven't seen being able to find any of my hidden windows by Command+H and as such I've sent that app to the Trash where it belongs. Witch is a much better option for me, although it's not free like AltTab is.
I don't agree with the comparison chart on that website as with Witch you can make it, in my opinion, comply to your every need.
There's not much that can be injected into the Dock anymore that would allow for a Windows taskbar experience where you either click or hover over an icon in the Dock. Injection on many occasions would require SystemIntegrityProtection to be off or off-then-on again. Which isn't ideal. HyperDock is in reality your best bet for what you describe, I haven't personally used it much here on macOS Catalina because Apple has turned the security up to 11.
uBar I use from time to tome, but that also has its limits. Not being Dock replacement, but an extension or addition to it. The Dock is there still and uBar can't inject or intercept the minimizing of windows to it. These go to the Dock but are available within uBar. It could provide the feature you're after. Again, it's going to cost you.
You could be better off with Minimizing to Dock Icon and use Mission Control to watch open tabs or windows.
If I'm totally off the mark with these suggestions then feel free to destroy me.