Command Reopen makes macOS Command-Tab restore minimized windows, or open a new one when the app has none. It needs no Accessibility or Screen Recording permission and is a sandboxed Mac App Store app. $9.99 lifetime with a 7-day free trial and no subscription. A free open-source build is also on GitHub, one version behind.
macOS Command-Tab switches apps but leaves minimized windows minimized. Command Reopen restores them, or opens a new window when the app has none, with zero Accessibility permissions.