I am in the process of creating a Shiny dashboard application, where the dashboard body is supposed to show some maps. So far no problem to get the map expand over the entir
You can also do it if you want to combine your leaflet map with another kind of panel structures like a navBarPage, including the map in a tabPanel:
tags$style(type = "text/css", "html, body {width:100%;height:100%}"),
tags$style(type = "text/css", "#map {height: calc(100vh - 80px) !important;}"),
leafletOutput("map", width = "100%", height = "100%"),