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It is possible to pass width='100%' into plotlyOutput so that the plot takes all of the horizontal space. The help text also suggests height='100%' as an example, but this always results in a 400px static height.
However, plotly plots are usually 100% height and width when the graphs are stand-alone HTML, so I'm not sure why it wouldn't be possible to have 100% height within a Shiny app.