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Usually, you can. But occasionally you get mildly defective tools that require some directory to exist, even though it's empty. It's easier to add a gitkeep than fix them.
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This used to happen a lot. But I don't think that many modern builders require existing directory these days.

Your point is valid though. It would be much preferable to include build/ in your root .gitignore so that the directory is never tracked.

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Because you might not have a build script?
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Then how is anything ending up in the build directory?
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Then why do you need a build directory?
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qemu: mkdir build; cd build; ../configure, some projects are like that
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Why can’t the configure script do this?
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You can. But this makes intent clear. If you clone a git repo and see build/ with only a gitkeep, you are safe to bet your life savings on that being the compiled assets dir.
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There may be other directories. I think it's useful to be able to see the entire directory structure of a repo when you check it out, and not just after running some scripts.
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