While my dock "auto-hide" is enabled when, in full-screen app, if I put the pointer to the very bottom, the dock won't show up. Unless, and this might be a bug, I move my mouse horizontally and it reaches and already opened app. Sounds weird but I don't understand
I was a bit stumped by this, but actually I think there is an explicit procedure.
When in full-screen mode, move the cursor to the bottom of the screen; then drag down with one finger. The dock will then appear.
It appears it doesn't matter where you do this (which application icon you happen to hovering over) as far as I can see.