It is not possible. GNOME 40 has removed any way of having a visible dock.
The closest alternatives are Floating Dock - GNOME Shell Extensions which provides an always-visible dock, and Hot Edge - GNOME Shell Extensions which provides something similar to an auto-hiding dock.
If you run an Xorg session then Dash to Plank - GNOME Shell Extensions might work, but that also relies on additional software (plank) and does not work under a Wayland session.
As a final option, Dash to Panel - GNOME Shell Extensions provides icons for applications, but within the top bar and not as a separate dock.
As others have pointed out, extensions may break with newer versions of GNOME - and this forum cannot provide support for GNOME extensions.