How do I minimize floating keyboard?

When I’m in any random app, such as Apple Notes or Google Keep, tapping on the screen outside of the native keyboard does not disappear the keyboard like it does when I’m in Safari. The keyboard is basically stuck on the screen with no way to remove it other than to exit the app or quickly drag the keyboard to full-size and use the minimize arrow. This is illogical, perplexing behavior and makes the floating keyboard unusable. What am I missing here? I’m absolutely at loss to understand this.