Just hit "command space" and start typing the application name you want to start. then "return" to start it. I stopped using the doc many years ago to launch. Occasionally its useful for dragging files into an editor or such.

There was an app called "quick silver" https://qsapp.com was a similar keyboard launcher.

HyperDock. Not really a complete Dock replacement, but it improves Dock functionality where it matters and integrates with macOS seamlessly. Screenshots on their website are quite dated, but it works with macOS Mojave without any problem.

What makes the standard one not enough?

Icons can be removed from the dock when the window is open.

If windows minimize into their icon and you have more than 1 instance open, then clicking on the icon opens the last instance open. It should give you an option - or better yet duplicate the icon

Generally, it works for launching apps. Not window management.

The expose feature is supposed to be used for that. I had a hard time adjusting from Windows for a while, cause I kept going to the dock to do window management. It got a bit better when I started using the three finger swipe up and down (only this app's windows). I still use the dock more than I should due to habit though.