Aside of auto vacuuming, there is also VACUUM FULL [1] which does an exclusive lock on the table.
If you look for an alternative option for reorganizing tables in online mode, try the pg_repack extension [2].
Vacuum is online, but with a caveat iirc, it locks the table with a lock that does not block inserts/updates/reads. But if your application use exclusive locks, things can get blocked.