Epand root partition "live"

I have a 2TB drive for my root partition but it looks like by default Ubuntu 20.04 only starts you out with 200GB. Is there an easy way to do this while the server is running? I do not have a GUI installed on this server so only CLI tools would be in use. I have read a bunch on using “resize4fs”. Is this the easiest way? Here is what my lsblk output is:
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“vgs” output:
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“lvs” output:
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Any help/advice is appreciated!