Yes, more or less.

Shunyata is the realization of emptiness of existence. It is basically the realization of death. It’s not the realization that all objects are empty of independent and permanent existence or some such - this is just the beginning of Shunyata, the tip of the iceberg. Once true Shunyata is realized, one enters Nirvana.

The only qualifier here is that complete enlightenment is beyond Nirvana. Which is why in Buddhism it is often said that Nirvana is the last delusion, and Buddhas don’t see a difference between Nirvana and Samsara, so sometimes a Buddha’s Nirvana is called non-abiding. Another way to say the same thing is that the realization that death makes life empty is, in itself, empty.

So there is neither Shunyata nor Nirvana in complete enlightenment, and at the same time they are always present. Enlightenment is basically Samsara in serenity.