I don't think necessity is the mother of invention. Invention, in my opinion, arises directly from idleness, possibly also from laziness - to save oneself trouble.
In one's youth every person and every event appear to be unique. With age one becomes much more aware that similar events recur. Later on, one is less often delighted or surprised, but also less disappointed than in earlier years.
It is true that the grasping of truth is not possible without empirical basis. However, the deeper we penetrate and the more extensive and embracing our theories become the less empirical knowledge is needed to determine those theories.