Put your cursor on the window to be moved and press Alt-F7. The cursor will change to a hand and allow you to move that window to the top of your screen and beyond if wanted. Press the space bar to terminate this function. Is that suitable?
Edit: Alt+F7 also allows moving that window back down if you cannot see the title bar.
Shortcut itself is not moving your window, it activates "move window" mode, when you are able to move your window with cursor. I am trying to understand, why @mdooley's correct answer is not working for you.
Another similar approach to grab window with mouse is to put cursor on window and press left mouse button while holding Alt key pressed. Cursor shall change and you shall be able to drag your window (while holding both Alt and left mouse button). Please, check Control Center / Windows / Behaviour settings.
The Freedesktop specifications define a root Xwindow property named _NET_WORKAREA.
Window managers follow those specifications and let you move the window inside the workarea.
The panel, when launched, creates a property _NET_WM_STRUT_PARTIAL. That tells where the boundaries of the panel are goung to be. When you move/resize the panel that property changes. Whenever the struts are set, _NET_WORKAREA changes too.
What you could do is to remove the panel struts.
xprop -remove _NET_WM_STRUT_PARTIAL
But then the panel is going to be on top of all other windows.
You can use wmctrl to add the property to keep the panel below.