I can reproduce this with DynamoDB and S3. For example, this file as `template.json`:
```json
{
  "AWSTemplateFormatVersion": "2010-09-09",
  "Transform": "AWS::Serverless-2016-10-31",
  "Resources": {
    "S3Setup": {
      "Type": "AWS::S3::Bucket",
      "Properties": {
        "BucketName": "testbucket"
      }
    }
  }
}
```
Apply using
`awslocal cloudformation create-stack --stack-name local --template-body file://template.json` -> 200 OK
Immediately followed by
`awslocal cloudformation create-change-set --stack-name local --change-set-name nochanges --template-body file://template.json` -> Error
Errors happen if stack has multiple objects and any one has no changes, which makes it impossible to update the stack via cloudformation.

Here's a DynamoDB example for which it happens as well:
```json
{
  "AWSTemplateFormatVersion": "2010-09-09",
  "Transform": "AWS::Serverless-2016-10-31",
  "Resources": {
    "DynamoSample": {
      "Type": "AWS::DynamoDB::Table",
      "Properties": {
        "TableName": "ExampleTable",
        "AttributeDefinitions": [
          {
            "AttributeName": "name",
            "AttributeType": "S"
          }
        ],
        "KeySchema": [
          {
            "AttributeName": "name",
            "KeyType": "HASH"
          }
        ],
        "ProvisionedThroughput": {
          "ReadCapacityUnits": 1,
          "WriteCapacityUnits": 1
        }
      }
    }
  }
}
```

""" Update and fix the ID(s) of the given resource. """
        
        
        
        
        
        
        
        
        
        
        backend = apigw_models.apigateway_backends[region_name]
        if isinstance(resource, apigw_models.RestAPI):
            backend.apis.pop(resource.id, None)
            backend.apis[new_id] = resource
            
            
            client = aws_stack.connect_to_service('apigateway')
            resources = client.get_resources(restApiId=new_id, limit=500)['items']
            
            assert len(resource.resources) == 1
            resource.resources = {}
            for res in resources:
                res_path_part = res.get('pathPart') or res.get('path')
                child = resource.add_child(res_path_part, res.get('parentId'))
                resource.resources.pop(child.id)
                child.id = res['id']
                child.api_id = new_id
                resource.resources[child.id] = child
            resource.id = new_id