Open folder in dock by simply clicking
You can press the command ⌘ key and click the target Folder in the Dock, this will open the folder in a new Finder window.

If the command ⌘ key and click doesn't open directly to the target Folder, you can also try pressing option+command ⌘ keys and click the target Folder in the Dock, this should open directly to the folder in a new Finder window.

You can also instead of right-click, just click the target Folder and select Open in Finder.