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Yes. I have done so myself. I had 2 months of visa remaining. The new visa was issued without a problem.
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You can apply to extend your existing visa for up to 6 months, providing you continue to meet the rules https://assets.publishing.service.gov.uk/government/uploads/system/uploads/attachment_data/file/673351/Visit-guidance-v7.0EXT.PDF#page36 Thereβs nothing in the guidance that precludes a renewal application whilst an existing visa is still valid.