Panic with RequiredTypeArguments and EmptyCase

Summary

Combining RequiredTypeArguments with EmptyCase leads to a panic.

Steps to reproduce

In GHCi:

>>> :set -XRequiredTypeArguments 
>>> import Data.Kind 
>>> let f :: forall (xs :: Type) -> (); f = \case {}
panic! (the 'impossible' happened)
  GHC version 9.10.1:
        Util: only
  CallStack (from HasCallStack):
    panic, called at compiler/GHC/Utils/Misc.hs:486:10 in ghc-9.10.1-803c:GHC.Utils.Misc


Please report this as a GHC bug:  https://www.haskell.org/ghc/reportabug

Expected behavior

No panic.

Environment

• GHC version used: 9.10.1