Empty array parameters generates invalid URL

Empty array parameters generates invalid URL

### Environment

node: v18.13.0
ufo: version 1.1.2

It might not depends on node version.

### Reproduction

```
> const { stringifyQuery } = require('ufo')
> stringifyQuery({ 'a': 'X', 'b[]': [], c: "Y" })
'a=X&&c=Y'
```

### Describe the bug

If the parameter has an empty array as value, a double ampersand is generated and generated URL is invalid.

Expected behavior:

```
> stringifyQuery({ 'a': 'X', 'b[]': [], c: "Y" })
'a=X&c=Y'
```

---

Especially, the "double ampersand" breaks my Nuxt/Rails hybrid application.

The behavior generates url like the following:

```
"https://localhost:3001/api/v1/users/search?page=1&perPage=25&sortBy=email-asc&&fullName=aaa;bbbb"
```

Ruby on Rails parses the query parameter as the following

```
{"page"=>"1",
 "per_page"=>"25",
 "sort_by"=>"email-asc",
 "full_name"=>"aaa",
 "bbbb"=>nil,
 "format"=>:json,
 "controller"=>"api/v1/users",
 "action"=>"search",
 "user"=>{}}
```

`full_name=aaa;bbbb` was separated to `"full_name" => "aaa"` and `"bbbb" => ''` and the value after semicolon is ignored in my search form.

### Additional context

_No response_

### Logs

_No response_