Are there any systematic developments, medieval or modern, of Upadana and Tanha in Mahayana?

At the risk of being overly simplistic, it seems that Mahayana traditions have dedicated their intellectual efforts to developing the idea of **Emptiness (śūnyatā)**, starting from Nagarjuna, through Dogen, and extending to the modern Kyoto School. - As you might notice, these examples are biased towards the Japanese branch, which I'm personally more interested in, but other examples also exist, of course. I was trying to locate medieval or modern Mahayanic systematic discussions of **Upādāna** and **Taṇhā**. I was hoping that these ideas were discussed and interpreted in light of the emptiness idea. However, it seems that they have lost intellectual focus. - If it's indicative of anything, the Wikipedia page for Upādāna says the Japanese is "shu", and the one for Taṇhā says the Japanese is "katsu ai". But I couldn't find any meaningful results using these terms in the context of Buddhism. Are there any notable examples of systemaic discussions of Upādāna and Taṇhā in Mahayana Buddhism (particularly within Japanese traditions)?