# If you'd like to omit non-matching lines from the result; add ';d' to the end of the expression.
sed -E 's/(^-[^\n]*\n\h+|(?!^)\G)([^\n]*)\n(?!-)\h+/$1$2 /gm;t' <<< " abc
def
- test 1
test test test
test test test
test test test
- test2
- test3
test test t
test test test
- test 4
test test test
- test5"
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