Edit structured field in table (not in pop up window)

I’m trying to use the Structured field in the Panel.

Is there a way to edit content in the table (“inline”) rather than in the pop-up window?

Also, is it possible, in the table in the Panel, for the row to expand, so that I can see all the text in the ‘cell’? For the row to grow in height to display all the text inside it

No to both, at least not out of the box.