I have such issues with Ubuntu Dock too on my laptop with a touchscreen. I can 
also confirm that gnome-shell --replace solves that problem. This problem 
appears only in X11. The problem doesn't appear on Wayland session but I use 
X11 due to few limitations on Wayland.
So please help to fix this issue.

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https://bugs.launchpad.net/bugs/1725384

Title:
  On touch screens, the apps icon in the dock does not open when touched

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