Hi,
TL;DR: Yes. Vacuum: Send command = evac
The documentation doesn’t mention it…
but the underlying Python library has the evac command:
- supports self emptying base
GitHub - NickWaterton/Roomba980-Python: Python program and library to control iRobot Roomba 980 Vacuum Cleaner
The HA vac entity doesn’t mention empty as an action (missing from HA), however Action vacuum.send_command works:
This sequence emptied my i7 on the base:
- Developer tools
- Action =
Vacuum: Send command - Target =
my i7 - Command =
evac
Personally, my robots self-empty after returning to the base. (FYI, when docked the HOME button empries the bin.)
If this helps, 
this post!