How can the theory of emptiness be true and yet the self still transmigrates and takes rebirth?

The Theory of "Emptiness" is the concept that all phenomenon are empty of inherent existence. Something has the illusion of existence when the right causes and conditions arise. Example: there is no inherently existing chicken soup. You only get chicken soup when you put together a dead chicken, hot water. Veggies etc. in this theory, you illusory sense of self comes from the right causes and conditions, parents, a body, a brain etc. following this logic, upon death, the self should simply cease to exist because that which made you a self has dissolved and since you do not inherently exist you should just vanish, and yet the Buddha is clear we take rebirth. This is illogical and makes no sense. Perhaps this is why the Buddha never taught a theory of emptiness. This idea is nowhere in the entire Pali Canon.