I would really like the ability to launch the widget from a static link on my website instead of having to use the floating button. The button gets in the way of my content no matter where I put it, and it's not as visible as it could be. If I had my preference, I would build it into my masterpage as a part of the header, similar to the "new support ticket" button on this site.
Found the answer on the FreshDesk site, if anyone is also needing this.
Offset the widget by -100 so it doesn't show, and use a link like this anywhere on the page to open it: