Swipe between apps but continue to see the menu bar
Try placing applications in "maximized mode" in their own seperate desktop. Do this by OPT+Clicking the green button to make the window maximized (or resize the window), then drag the window, pushing it against the top of the screen. This will trigger Mission Control. Still holding the window, drag it to the "new desktop" icon in the upper-right corner to place the window in it's own desktop.

Screen recording of this: https://youtu.be/8QI-UkKmMPw

It may be slow to set up, but you'll still be able to use the two-finger swipe to move between applications, while still having the menu bar and dock.

To close desktops (which moves windows from that desktop into the next available desktop), enter Mission Control (F3), move the cursor to the top of the window, and hover your cursor over the desktop. A close icon should appear in the upper-left corner of the icon.

Hopefully this will be helpful.