Should I strictly let design emerge from tests
No. (Domain Driven) Design by definition should emerge from domain requirements. This is bad idea to let anything else to drive your design, whether it is tests suite, database schema or ... (to be continued)
Or should I create those empty layers (application, entities/domain services, infrastructure) and let TDD fit in each of them independently
(continued) ... or some canonical layers of classes/class hierarchies in your favorite OO language of choice, even if it is a very mature and popular one (after all "millions of flies can't be wrong", right?).
When it comes to DDD, OOP falls short expressing requirements in human-readable form i.e. something that would be more or less clear to a non-programmer. Strictly typed FP languages do a better job. I recommend to read a book about DDD using functional programming "Domain Modeling Made Functional" by Scott Wlaschin
https://pragprog.com/book/swdddf/domain-modeling-made-functional
You don't have to use FP language to borrow some of the ideas from there (not all of them unfortunately), but if you actually read it then you probably will want to use a functional language.
It will also answer your question about how TDD fits in DDD picture. In a nutshell, when requirements are coded in functional style it eliminates the need for vast amount of unit tests as it makes most of invalid states and scenarios unrepresentable / impossible to compile. Of course, there is still place for automated testing in FP project but by no means tests will drive any major design decisions.
To make a full circle let's return to the title question i.e. "How to combine strict TDD and DDD?". The answer is straightforward: there is nothing to combine / no conflict of interest. Design according to requirements, develop according to design (by writing tests first if you really want to do TDD)