I can't understand why you can't live without auto hide, I couldn't live with it. The avast icon can give an early indication you have a problem. However, there is nothing to stop you disabling the display of the icon or at least stop the animation, which is probably why the task bar is un-hidding.
I suggest starting with the disable animation and not getting rid of the icon as that is your interface to the program settings (neded to change this option), the on-access control and access to the simple user interface.