Add the sample code below to your child theme's functions.php file or in a site specific plugin.
<?php
//* Do NOT include the opening php tag
//* Change the empty event queue messaging in Event Espresso 4
add_filter ('FHEE__Single_Page_Checkout__display_spco_reg_form__empty_msg', 'ee_return_to_event_listings_from_empty_event_queue');
function ee_return_to_event_listings_from_empty_event_queue() {
return 'You need to <a href="http://example.com/events/" title="Return to event listings page">select at least one event</a> before you can proceed with the registration process.';
}
References:
https://eventespresso.com/topic/ee4-nothing-in-event-queue-and-slow-registrations/#post-174037
https://eventespresso.com/topic/urgent-min-qty-issue-nothing-in-your-que-error/
https://eventespresso.com/topic/change-select-at-least-one-event-url/