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
        }
      }
    }
  }
}
```

stack = get_stack_details(TEST_STACK_NAME)
            self.assertEqual(stack['StackStatus'], 'CREATE_COMPLETE')
        retry(check_stack, retries=3, sleep=2)
        
        assert bucket_exists('cf-test-bucket-1')
        
        assert queue_exists('cf-test-queue-1')
        
        assert topic_exists('cf-test-topic-1-1')
        
        assert stream_exists('cf-test-stream-1')
        
        resource = describe_stack_resource(TEST_STACK_NAME, 'SQSQueueNoNameProperty')
        assert queue_exists(resource['PhysicalResourceId'])
        
        tags = s3.get_bucket_tagging(Bucket='cf-test-bucket-1')['TagSet']
        self.assertEqual(tags, [{'Key': 'foobar', 'Value': aws_stack.get_sqs_queue_url('cf-test-queue-1')}])
        
        subs = sns.list_subscriptions()['Subscriptions']
        subs = [s for s in subs if (':%s:cf-test-queue-1' % TEST_AWS_ACCOUNT_ID) in s['Endpoint']]
        self.assertEqual(len(subs), 1)
        self.assertIn(':%s:cf-test-topic-1-1' % TEST_AWS_ACCOUNT_ID, subs[0]['TopicArn'])
        
        test_api_name = 'test-api'
        api = [a for a in apigateway.get_rest_apis()['items'] if a['name'] == test_api_name][0]
        responses = apigateway.get_gateway_responses(restApiId=api['id'])['items']
        self.assertEqual(len(responses), 2)
        types = [r['responseType'] for r in responses]
        self.assertEqual(set(types), set(['UNAUTHORIZED', 'DEFAULT_5XX']))
    def test_list_stack_events(self):