Boot Camp Error -- "The startup disk cannot be partitioned or restored to a single partition."

Hi.

I am trying to remove my Windows 10 partition to free up storage on my MacBook Pro. The windows partition works with no issues but when I try to remove it with the Boot Camp Assistant it gives me the "The startup disk cannot be partitioned or restored to a single partition" error. It also says "The startup disk must be formatted as a single Mac OS Extended (Journaled) volume or already partitioned by Boot Camp Assistant for installing Windows." Any help would be greatly appreciated.

P.S. I ran diskutil list in terminal and this is the output.

/dev/disk0 (internal):

   #:                       TYPE NAME                  SIZE       IDENTIFIER

   0:      GUID_partition_scheme                         251.0 GB   disk0

   1:                        EFI EFI                     314.6 MB   disk0s1

   2:                 Apple_APFS Container disk1 170.0 GB   disk0s2

   3:       Microsoft Basic Data BOOTCAMP        80.2 GB    disk0s3

   4:           Windows Recovery                         502.3 MB  disk0s4

/dev/disk1 (synthesized):

   #:                       TYPE NAME                    SIZE       IDENTIFIER

   0:    APFS Container Scheme -                      +170.0 GB   disk1

                                 Physical Store disk0s2

   1:                APFS Volume Macintosh HD        116.8 GB   disk1s1

   2:                APFS Volume Preboot                 22.6 MB    disk1s2

   3:                APFS Volume Recovery                514.9 MB   disk1s3

   4:                APFS Volume VM                      3.2 GB    disk1s4