# Hide the XFCE panel:
xfconf-query -c xfce4-panel -p /panels/panel-0/autohide-behavior --type int --set 2 xfce4-panel -r
# Show the XFCE panel:
xfconf-query -c xfce4-panel -p /panels/panel-0/autohide-behavior --type int --set 0 xfce4-panel -r
0 = never
1 = Intelligently
2 = Always