Ask the builder what's possible and what it would cost.

What size bed do you have there? I'd probably leave it alone, but make sure there is room for a small nightstand on either side of the bed, or plan for an integrated nightstand in the headboard. If you keep the bed as shown, make sure the windows are clerestory windows, so you have room for a headboard that doesn't block the window. Like this:

Compact guest bedroom design · More Info

Glass + Timber Mill Valley Contemporary · More Info

I'd leave it alone.

It's a guest room, for sleeping. It looks plenty big.

The window on top of the bed is actually those showed above. I didn’t know they are called clerestory windows.

I would not want a guest room doorway into my office . As for the guest room it is fine as you have shown but the floorplan to me needs some work I see no access for the office to use the bathroom so not ideal. Are you working with at least an interior designer?

For sure other parts of the layout needs to be worked. (I assume no changed from the original). The office label is the builder’s label. That’s just another foyer from the other side. I don’t see any good use of it other than some cabinet and storage.

There's no good fix. Sorry, but the entire thing is rather a cobble together, poorly thought out.

Leave it alone : )

The first call would be to the builder to see if they will even consider a change to 1 townhome, whether it is possible with the design (structure, MEP, etc), and the cost associated with it.

But, it would appear to me that the RED line is a bearing wall. The stair wall circled in BLUE is a half-wall, and should remain that way in any case.

Can you remove the door to the office from the bedroom, make that area the closet for the bedroom, remove the other closet and have the doorway into the room be on the wall where the closet is now?