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I have a legend with no title but there is still a large white space above the layer/subgroup title that I would like to remove. I tried using legend.setTitle("") and legend.setStyleFont(QgsLegendStyle.Title, QFont('Arial', 0)) but neither worked. I suspect this is a spacing issue rather than a font issue, but I don't see anything under setStyle that looks like it controls spacing.

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You can use rstyle method of legend. You can set spacing using setMargin function. Documentation for rstyle and setMargin.

legend.rstyle(QgsLegendStyle.Title).setMargin(1) # 1 mm
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