Do you have set at panel preferences > appearance > opacity > leave
the value to 100 (or any value higher than 0)?
When this value is set to 0 the panel hides when you leave it.
Also make sure that the opacity is set to a value >0 for "enter".
Probably you mean the xfce4-panel, not whisker-panel, or are you talking about whisker-menu? But there is not such a setting to autohide.
Do you have the checkbox for Lock the Panel checked?
This is... new.
Generally, it is not possible for an XFCE4 Panel to autohide if set to "never" due to how the panel operates.
Are you running Gnome, with the XFCE4-Panel active and XFWM$ active on Gnome Desktop?
Or, are you running as logged into the XFCE desktop?
That was it - I had moved the "leave" slider for opacity at "0", not understanding the meaning of "leave". And yes, I conflated the whisker menu with the XFCE panel.
Thank you!