Steer clear of a space that's empty (5)
I believe the answer is:
avoid
'steer clear' is the definition.
(to steer clear of something is to avoid it)
'a space that's empty' is the wordplay.
'space that's empty' becomes 'void' (a void is empty).
'a'+'void'='AVOID'
'of' is the link.
(Other definitions for avoid that I've seen before include "Get out of" , "Shun, dodge" , "Steer clear of, dodge" , "Shy away from" , "Keep away from (someone/something)" .)