Show the cart icon only if it exists and it isn't empty
Don't know any module that does this but it is simple to do in your theme

Add this to your THEMENAME.theme

function THEMENAME_preprocess_block(&amp;$variables) {
  if ($variables['plugin_id'] == 'commerce_cart') {
    if ($variables['content']['#count'] == 0) {
      $variables['attributes']['class'][] = 'visually-hidden';
    }
  }
}