We extend the relativistic Hartree-Fock (RHF) theory to study the structure of single-$\Lambda$ hypernuclei. The density dependence is taken in both meson-nucleon and meson-hyperon coupling strengths, and the induced $\Lambda$-nucleon ($\Lambda N$) effective interactions are determined by fitting $\Lambda$ separation energies to the experimental data for several single-$\Lambda$ hypernuclei. The equilibrium of nuclear dynamics described by the RHF model in normal atomic nuclei, namely, the balance between nuclear attractive and repulsive interactions, is then found to be drastically changed in single-$\Lambda$ hypernuclei, revealing a different role of Fock terms via $\Lambda$ hyperon from the nucleon exchange. Since only one hyperon exists in a single-$\Lambda$ hypernucleus, the overwhelmed $\Lambda N$ and $\Lambda\Lambda$ attractions via the Hartree than the $\Lambda\Lambda$ repulsion from the Fock terms require an alternation of meson-hyperon coupling strengths in RHF to rebalance the effective nuclear force with the strangeness degree of freedom, leading to an improved description of $\Lambda$ Dirac mass and correspondingly a systematically reduced $\sigma$-$\Lambda$ coupling strength $g_{\sigma\Lambda}$ in current models as compared to those relativistic mean-field (RMF) approaches without Fock terms. As a result, the effective $\Lambda$ spin-orbit coupling potential in the ground state of hypernuclei is suppressed, and these RHF models predict correspondingly a quenching effect in $\Lambda$ spin-orbit splitting in comparison with the RMF cases. Furthermore, the $\Lambda$ spin-orbit splitting could decrease efficiently by evolving the hyperon-relevant couplings $g_{\sigma\Lambda}$ and $g_{\omega\Lambda}$ simultaneously, where to reconcile with the empirical value the RHF models address a larger parameter space of meson-hyperon couplings.