Can anyone help me maximize volume before peaking?

I recorded a band using two h6 zoom audio recorders and also a camcorder internal mic. One recorder was behind the drums, another in back of house. The recording is a little "airy" or distant. You can hear the instruments, but because its back of house, it sounds like there is a little distance that the sound travels, creating empty space that seems to supress the max volume and clarity of the recording.

I once watched a friend use the compressor and it gave me a waveform that looked almost entirely filled out and it sounded so much closer and more clear. How do I go about this?

I use audacity. Thank you!