That's actually not true. Space is actually expanding, meaning new space is coming into existence and no one really knows what that looks like at a quantum level. Then again, we don't know how gravity works at a quantum level either.
The quoted figure is 72km/s/MPsc (+/-5). That means if two objects are 1 megaparsec apart (3.26 million light years) then space itself is expanding between them at the rate of ~72km/s.
Dark energy is really the fudge for all this. The idea is that creating new space takes energy. That has to come from somewhere and dark energy is our fudge factor for that. No one really knows what dark energy is or looks like just like we don't know what creating new space looks like. It just solves a conservation problem.
This isn't gravitational repulsion. It's why the universe is ~13.8 billion years old but we can see the light of objects that we now estimate to be >40 billion light years away. Space itself has expanded. It's not gravitational repulsion.
> In our most advanced quantum theories, we can calculate the energy contained in the vacuum, and it’s infinite. As in, suffusing every cubic centimeter of space and time is an infinite amount of energy, the combined efforts of all those countless but effervescent particles.
That's not true either. The calculation of vacuum energy by QFT isn't infinite. It's just really, really large. This is one of the largest errors between theory and observation in all of physics because the measured energy of a vacuum is ~120 orders of magnitude less. This is a well-known (and open) problem known as the vacuum catastrophe [1].
Lastly, on empty space, it's well-known that atmos are mostly empty space (as the article notes). I mean this is why neutron stars can be so dense. But it's worse than that. The nucleus itself (already a tiny portion of an atom's volume) is mostly empty space. Nucleons are made up three quarks and those quarks are tiny compared to the nucleon's size.
[1]: https://en.wikipedia.org/wiki/Cosmological_constant_problem