No, succeeding blocks by the same entity should never be empty.
Empty blocks occur when another miner finds a block before they have validated the previous block. Before having validated the previous block they don't know which transactions remain unconfirmed. However, if they'd include a transaction that was already confirmed their block would be invalid. Thus, to play it safe, they restart mining on an empty block.
As the miner that created the last block knows exactly which transactions where included from the start, they have no reason to mine empty block and can immediately include transactions.