Line-intensity mapping of the 21cm line is a powerful probe of large scale structure at z<6, tracing large-scale structure via neutral hydrogen content that is found within galaxies. In principle, it enables cost-efficient surveys of the matter distribution up to z~6, unlocking orders of magnitude more modes for observational cosmology. Canada has been a traditional leader in this field, having led the first detections of the cosmological 21cm signal via cross-correlations with optical galaxy surveys and having constructed the Canadian Hydrogen Intensity Mapping Experiment (CHIME). The field is now entering a new era where data is abundant, allowing studies in how to overcome systematics to be tackled in an empirical, head-on fashion. In the next few years, this will produce the first detection of the 21cm auto power spectrum, which will pave the way towards a large suite of scientific possibilities. These potentially include precision measurements on the dark energy equation of state and other LCDM parameters, constraints on how HI mass traces dark matter, a detection of neutrino effects on large-scale structure, and the use of 21cm lensing to further constrain cosmology. To turn these promising directions into reality, we recommend a sustained program of investment in 21cm cosmology, starting with funding for the Canadian Hydrogen Observatory and Radio transient Detector (CHORD), followed by small-scale development efforts targeting next-generation hardware and sustained support for theory and technical staff support. Additionally, Canada should invest in complementary line-intensity mapping efforts (such as with CO or [CII] lines) and maintain participation in next-generation international efforts such as the Packed Ultra-wideband Mapping Array (PUMA) and the Square Kilometre Array (SKA).
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