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I haven't used the Popout module (https://github.com/League-of-Foundry-Developers/fvtt-module-popout) but it looks like it does what you would want - though it explicitly doesn't work in the FVTT application, only in a browser view (which many people use, even if they are running the application as a self-host server -> Start the application to run as a server, then shove it into the background and fire up your browser and connect to it using that)