Is there a way to move window off top edge of display?
No, it isn't possible to move an app window past the top edge of screen in macOS (irrespective of whether Menu bar is set to auto-hide or not).

Some app windows (such as FaceTime, QuickTime Player, VLC etc.) can be dragged by clicking and holding the window anywhere, not just the title bar. However, attempting to drag past the top edge may lead macOS to invoke Mission Control.