Get Posts of Terms Hierarchically

I have a custom taxonomy called ‘service_type’ that has multiple service types that are hierarchical with multiple services under each hierarchical layer.

For example, I’ve got

top level service type
-post name
-sub level of service type
–post name
–post name
-sub level of service type
–post name

and so on. I’ve made a custom taxonomy page, but I want to show the post names under their individual service types as shown in the example.

What is the best way to do this? The feature doesn’t appear to be built into wordpress.