@mtennekes -- see the example below. My assumption is that the panel title would always be shown when the tm_facets() is applied (consistency).
library(tmap)
tm_shape(World) +
tm_polygons() +
tm_facets("continent")

# facet map with one panel does not include panel title
europe = subset(World, continent == "Europe")
tm_shape(europe) +
tm_polygons() +
tm_facets("continent")

Created on 2025-12-01 with reprex v2.1.1