I know that "which, who, whom" can be replaced by "that" in defining relative clauses. But can "that" replace "where" in defining relative clauses?
Yes: it can. I know a place where/that we can relax. In that example, the relative word or "that" can be omitted altogether: I know a place we can relax .
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Yes: it can.
I know a place where/that we can relax.
In that example, the relative word or "that" can be omitted altogether:
I know a place we can relax.
Note that strictly speaking "that" is not a relative pronoun but a subordinator.