[jslawell]

I mistakenly added an icon to a group. I didn't want to delete the whole group to remove it. So, I created a space on the dock, moved the icon from the group to the dock. Closed the group and moved the icon from the dock.

[robtanz]

If you just hold it on the dock for a few seconds you will exit the folder and then can place it whereever you like. Saves a step.

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[erhan8]

Or just hold the app you want to remove over the x in the upper left corner of the folder