If you are referring to segmental retaining wall units (SRWs), look at the testing and research reports provided on-line by the various international licensors. The results are the proven installation specifications from the licensor of the system.
The "void blocks" were not placed on "soil". They were probably placed on compacted base at a prescibed distance below the finished exposed toe of the wall as determined by the engineer if it was tall enough to require geo-grid and engineering. - Most standard design plates from munipcipalities, counties and DOTs do not show any concrete for typical gravity wall applications.
Usually, no concrete footing is recommended or suggested to maintain agreement with the wall design.
I have seen walls in the U.S. and many other countries (Australia, Spain, Taiwan, China, Canada, Mexico, etc.) that were designed by professionals. The most impressive was a 10km stretch of road with walls varying from 5' to 40'. - Also, just a mile from my home there is a commercial development with many engineered walls from 1' to 30' including "tiered" landscaping all without concrete footings.
Dick