Is there a way to restart the Touch Bar on MacBook Pro
You can Force Quit the "Touch Bar agent" using Activity Monitor, or with
pkill "Touch Bar agent"
On 10.13 High Sierra.
sudo pkill "TouchBarServer"
You can also Lock your Mac with Control + Command + Q and use TouchID to unlock. It's the easiest way for me
I made this app that will sit in the menu bar and allows you to refresh the Touch Bar with a mouse click.
It basically automates pkill "Touch Bar agent"; killall "ControlStrip".