Is there empty space between ESTs or is there a continual touching of ESTs?

I'll admit that I've never heard the term ESTs in this context, but I will presume you are referring to very small (quantum, Plank) scale interaction. If so, the answer is no. Nothing ever 'touches' anything else- at least not the way that you would perceive, for example, your finger touching your keyboard.

On the smallest of scales, forces are mediated by the exchange of subatomic particles called Gauge Bosons. These particles exist for a very, very short time- just long enough to carry the effects of the fundamental forces between neighboring, and comparatively stable, particles. There is always a mediator, so there is always an 'empty space'- nothing ever really touches anything else- a prospect I consider a bit of an existential bummer.

UPDATE:

Lex Parsimoniae does not- and cannot- apply to the scientific method; this is particularly true in the case of quantum scale research. If you consider waveform interaction 'touching', then yes - things touch one another. If you instead consider a rapid, energetic transfer across a distance many times greater than the classical diameter of a particle whose waveform far overshadows its mass not to be contact in the conventional sense (as is my belief), I encourage you to reconsider your premise. The more we have learned about the the nature of the very small, the further apart we have discovered them to be.