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Out of the box, Customizr only has transparent header for the home page. There are ways to do this using CSS. If you go that route, either use the advanced options > additional CSS or use a child theme, so that it doesn’t go away when you update.
Our support doesn’t handle customizable CSS, but I saw an old thread that looks like it has good advice, that I’ll link for you.
There are also tools that can be used. Our Nimble Builder Pro has this feature, for example.