# If you'd like to omit non-matching lines from the result; add ';d' to the end of the expression.
sed -E 's/.*(?<=GET )([^ ]*).*/$1/gm;t' <<< "00.00.00.00 - - [23/Mar/2020:16:23:04 +0000] \"GET /foo/bar/uri.js?id=123 HTTP/1.1\" 200 19165 \"https://nginx.com/foo/bar\" \"Mozilla/5.0 (Macintosh; Intel Mac OS X 10_15_3) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/80.0.3987.132 Safari/537.36\" \"00.00.00.00\" 0.000
00.00.00.00 - - [23/Mar/2020:16:23:04 +0000] \"GET /foo/bar/uri HTTP/1.1\" 200 19165 \"https://nginx.com/foo/bar\" \"Mozilla/5.0 (Macintosh; Intel Mac OS X 10_15_3) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/80.0.3987.132 Safari/537.36\" \"00.00.00.00\" 0.000
00.00.00.00 - - [23/Mar/2020:16:23:04 +0000] \"GET /foo/bar/uri.png HTTP/1.1\" 200 19165 \"https://nginx.com/foo/bar\" \"Mozilla/5.0 (Macintosh; Intel Mac OS X 10_15_3) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/80.0.3987.132 Safari/537.36\" \"00.00.00.00\" 0.000"
Please keep in mind that these code samples are automatically generated and are not guaranteed to work. If you find any syntax errors, feel free to submit a bug report. For a full regex reference for SED, please visit: https://www.gnu.org/software/sed/manual/html_node/The-_0022s_0022-Command.html