R mapping (ideally TMAP) - draw polygon of area(s) that are not within 500 metres of any data points within dataset

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I have a dataset with several hundred geographical points expressed as lat/long values that I plot as dots using tm_dots, on top of some boundaries that I plot using tm_shape (both using tmap).

Does anyone know of a way that I can draw polygons to represent areas within the boundaries of the underlying layer that are not within 500 metres of any of the points plotted? I'd be happy to use other R mapping resources (e.g. ggplot/ggmap) if better for this task.

Thank you

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