This is just what I know about, or could find easily from major groups.
I've only included 3d concerts with live audiences, and only 2023. It's fairly common for anime conventions both in SEA and America to include 2d vtuber concert performances, there would be hundreds, too many to list.
edit: Added some links for the lesser known ones, to get a feel what the audience looks like.
Japan
Performer: Hoshimachi Suisei
Event:
Shout in Crisis
Venue: Tokyo Garden Theater in Tokyo
Attendance: seats 8000 and sold out
Performer: Hololive
Event: Your Bright Parade (3 concerts)
Venue: Makuhari Event Hall in Tokyo
Attendance: seats 9000 and sold out all three events
Performer: Hololive 5th Gen
Event: Twinkle 4 You
Venue: Tokyo Dome City Hall in Tokyo
Attendance: seats 3100 and sold out
Performer: Hololive Blue Journey
Event: Yokae no Uta
Venue: Tokyo Garden Theater in Tokyo
Attendance: seats 8000 and sold out
Performer: Usada Pekora
Event: Usagi the Megami
Venue: Ariake Arena in Tokyo
Attendance: Stage Pattern B for this venue, so estimated at 9000, sold out
Performer: Tokoyami Towa
Event: Break your xxx
Venue: Tachikawa Stage Garden in Tokyo
Attendance: seats 2448 and sold out
Performer: Nijisanji's Nornis
Event: 1st LIVE -Transparent Blue-
Venue: Grand Cube Osaka Main Hall in Osaka
Attendance: seats 2754 and sold out
Performer: Nijisanji's VΔLZ
Event: 1st LIVE Issho Nyukon
Venue: KT Zepp Yokohama in Yokohama
Attendance: general admission is 2146 and sold out
Performer: Ryushen
Event: 緑仙 1st LIVE「Ryushen」
Venue: KT Zepp Yokohama in Yokohama
Attendance: general admission is 2146 and sold out
Performer: Kenmochi Toya
Event: 剣持刀也リアルソロイベント【虚空大戦】
Venue: KT Zepp Yokohama in Yokohama
Attendance: general admission is 2146 and sold out
Performer: Kanae
Event: 叶 1st Concert「午前0時の向こう側」
Venue: Grand Cube Osaka Main Hall in Osaka
Attendance: seats 2754 and sold out
Performer: Sara Hoshikawa
Event: Hoshikuzu Shining Day -Kimi ga Mitsuketa Ichibanhoshi-
Venue: KT Zepp Yokohama in Yokohama
Attendance: general admission is 2146 and sold out
Performer: Nijisanji's Nornis and VΔLZ
Event: Nijisanji Festival 2023 Pre-Festival
Venue: Tokyo Big Sight East Hall 4 in Tokyo
Attendance: unknown, and sold out
Performer: Nijisanji
Event: NIJISANJI 5th Anniversary LIVE “SYMPHONIA” (2 concerts)
Venue: Tokyo Big Sight, one or more of the halls, in Tokyo
Attendance: unknown, and sold out both events
America
Performer: Hololive English
Event: Connect the World
Venue: YouTube Theater in Los Angeles
Attendance: seats 6000 and sold out
Performer: Production Kawaii
Event:
Forever Bloom
Venue: El Rey Theatre in Los Angeles
Attendance: general admission (standing only) venue, 771 capacity, did not sell out. Attendees estimated 100 or a bit more.
Performer: Hololive Indonesia
Event:
Viv:ID Cruise
Venue: Javits Center hall 1D, as part of AnimeNYC in New York City
Attendance: 3045 seated in theatre layout, looked full
Performer: Nijisanji EN's Lazulight
Event:
3d performance as part of a panel at Anime Expo, event didn't have a name
Venue: JW Marriott Diamond Ballroom as part of Anime Expo in Los Angeles
Attendance: 2592 seated in theatre layout, looked full
Performer: Hoshimachi Suisei and Mori Calliope
Event: Hoshimachi Suisei @ NYC
Venue: Javits Center hall 1D, as part of AnimeNYC in New York City
Attendance: 3045 seated in theatre layout, looked full
South-East Asia
Performer: Hololive Indonesia
Event:
Viv:ID Cruise
Venue: as part of Indonesia Comic Con 2023 in Jakarta, as part of AFA Singapore 2023, as part of Comic Fiesta 2023 in Kuala Lumpur
Attendance: Unknown
Almost certainly other SEA groups, Viet or Thai vtubing is not talked about at all in EN spaces.