Hmm, it's a good thought, but there's a couple of issues.
1) Without suffering, empathy can exist. The reason for this is because empathy is not strictly related to suffering, but it is instance of being able to relate with another being in terms of how they're feeling, or thinking. You can share empathy for somebody who isn't suffering.
Now, if empathy was directly related to suffering and suffering only your first 2 premises and your first conclusion would logically follow.
2) Your 2nd conclusion, that learning and experiencing empathy is the meaning of humans physical lives does not logically follow from empathy not existing in a utopia or heaven.
(Obviously don't mean to shit on your argument, just my analysis on the logic).
In my opinion, empathy is but one phenomenon on the scale of human feelings and emotions. If there is a meaning to life (which I wont argue, because my views don't align well with this), it can't be such a narrow meaning. Not to mention, I've met lots of people who never experience empathy. Not always the greatest people to hang around

.