Conventionally Dependent Origination is considered in interpretations, to be over 3 lifetimes. Personally I prefer the momentary or one lifetime version. However I won't go into that because there are plenty of references in the Theravada forum.
It's my opinion that a genuine experiential understanding of sunnata (emptiness) is arrived at not through complex debate, nor through spacing out in an emptiness la-la land, but through simple analysis, together with regular meditation practice - and the purification of mental obscurations......