The short answer
Yes. The Empress is close to unanimous across the published yes-or-no lists, and its affirmative is one of the warmer ones in the deck. The affirmative is about something ripening on its own schedule, which is not the same as an answer arriving soon.
Why the card reads that way
A seated figure in a field of ripe wheat, a stream running past, a cushioned throne. The imagery is abundance that has already arrived rather than abundance being sought, and everything in the frame is in growth.
The yes comes from that. The card is read as fertility, production and nurture, and none of those describe an obstacle. What it does not describe is speed. Growth in this card is on the timescale of a crop, so a yes drawn from it is a yes about direction rather than about how soon, and readings that promise the latter are adding something the picture does not carry.
Reversed
Reversed, the readings are creative block, smothering, or care given past the point where it helps. That takes the answer down to a qualified yes for most readers and to a no for some, and the split is genuine rather than a matter of one side being careless.
Where the reversal is read as neglect rather than excess, the no becomes more common.
Where yes-or-no readings come from
Turning a deck into a set of verdicts is a recent habit, born of readings done quickly and questions phrased as closed ones. The older material has no such machinery in it; it reads situations, and a situation is not a yes.
The polarities also drift from source to source. They were assigned by individual readers working from individual decks, so the same card can carry opposite signs in two books published within a decade of each other, and neither is misquoting the tradition, because there is no single tradition to misquote.
A better question to ask
A better question for this card is what in your situation is already growing without your attention, and whether you are feeding it or standing on it.
That is answerable from the card, because growth and its conditions are exactly what the picture is about. Whether a plan succeeds is not answerable from the card, and this site does not present a draw as information about outcomes. The reframed version has the advantage of being testable by looking around.