New answers tagged switching
If you haven't enabled minimizing windows to the application icon, you can press control-F3 to move focus to the Dock, and then select the window with the arrow keys and press return.
This may seem complicated, although after you've done it a few times and use it regularly you'll have it down. Depending on if you have other windows minimized you may have to tap the left or right arrow keys on the last step to pull up the window you're wanting un-minimized. While holding ⌘ tap tab followed by ← then ↓ twice, then press return ( ...
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