This answer is a step by step explanation of what ankii proposed in a comment.
First, open Script Editor and write an Apple Script to toggle the visibility of your application. The following code should work, just change the value of appName (currently set to Finder) to be the app you want.
set appName to "Finder"
tell application "System Events"
How to navigate macOS application windows like a boss
Cmd Tab : switch to the next app (icon to the right)
Cmd Tab, followed by Cmd `~ : switch to the previous app (icon to the left)
Cmd `~ : cycle through all open windows of the app in focus. (Minimized windows are skipped.)
Below is an animation demonstrating what it looks like when windows are cycled.