I do not understand why having another system would prevent you from having /boot on the root partition.

Anyway, it probably is easy to expand the /boot partition. It depends on the types of filesystems on the adjacent partitions (in particular, XFS cannot be shrunk) and on whether they are full as well (they probably are not). You can use GParted (or a CLI: 'parted' or 'fdisk' or ...).

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