To understand a world empty of suffering, the Shorter Discourse on Emptiness might help. MN121 describes a discussion the Buddha once had with Ananda:
MN121:3.3: ‘Ānanda, these days I usually practice the meditation on emptiness.’
The sutta starts with noting the present and shared emptiness:
MN121:4.1: Consider this stilt longhouse of Migāra’s mother. It’s empty of elephants, cows, horses, and mares; of gold and money; and of gatherings of men and women. There is only this that is not emptiness, namely, the oneness dependent on the mendicant Saṅgha.
The Buddha continues with deeper and deeper stages of the meditation on emptiness.
MN121:4.3: In the same way, a mendicant—ignoring the perception of the village and the perception of people—focuses on the oneness dependent on the perception of wilderness.
And at very end of the sutta on emptiness, we see a confirmation of the inevitable stress associated with living:
MN121:12.3: There is only this modicum of stress, namely that associated with the six sense fields dependent on this body and conditioned by life.’
In a world without suffering, if we step on a thorn, there will still be the stress of the thorn piercing the foot.