Non-destructively resize software raid to use free space before and after existing partitions

I have a four-disk Linux software RAID, configured as RAID5:

$ lsblkNAME     MAJ:MIN RM  SIZE RO TYPE  MOUNTPOINTSsda        8:0    0  3.6T  0 disk  └─sda6     8:6    0  3.6T  0 part  └─md10   9:10   0 10.8T  0 raid5 /mnt/volume0sdb        8:16   0  3.6T  0 disk  └─sdb6     8:22   0  3.6T  0 part  └─md10   9:10   0 10.8T  0 raid5 /mnt/volume0sdc        8:32   0  3.6T  0 disk  └─sdc6     8:38   0  3.6T  0 part  └─md10   9:10   0 10.8T  0 raid5 /mnt/volume0sdd        8:48   0  3.6T  0 disk  └─sdd6     8:54   0  3.6T  0 part  └─md10   9:10   0 10.8T  0 raid5 /mnt/volume0

/dev/md10 is formatted XFS. I previously had other partitions/junk on these disks, which I have since deleted, hence the sdX6 partition names.

$ /sbin/cfdisk -r                                 Disk: /dev/sda            Size: 3.64 TiB, 4000787030016 bytes, 7814037168 sectors          Label: gpt, identifier: 7C1B7075-38E8-40E0-A382-D960F5AA85A8    Device            Start         End     Sectors   Size Type>>  Free space         2048    50008063    50006016  23.8G                          /dev/sda6      50008064  7796883455  7746875392   3.6T Microsoft basic data    Free space   7796883456  7814037134    17153679   8.2G

The other disks are identical, with a small amount of free space before and after the single partition with data. If possible, I would like to resize all four partitions so each RAID partition uses the entire disk.

I do have the data backed up, but it would be nice I could re-size it in place and keep the existing array and filesystem intact. Before I go experimenting with fdisk and mdadm, it would be nice to have confirmation that what I'm trying to do is possible.