You can, however, set a shortcut to keep viewing app-specific functions. If you're happy with the expanded control strip, you can close the system preferences window. The Touch Bar will change instantly, giving you a preview of the changes you've made.
Click the drop-down menu labeled Touch Bar shows and select Expanded Control Strip. You can customize which buttons are always shown by following the steps laid out here (we also outline those steps below).
The standard Control Strip layout contains up to four buttons on the right side of the Touch Bar.
View the Expanded Control Strip on demand