As in the title. There are a few cases where Compilation failure! is printed yet no error message is seen, some of them includes failure by external command (bibtex?) or corrupted format file (rare situation) or empty output etc.
I think automatically opening :VimtexCompileOutput or at least informing the user like
VimTeX: Compilation failure! (no error found, run :VimtexCompileOutput to see stdout of latexmk)
would be helpful in this case.
Example of empty output
\documentclass{article}
\begin{document}
\end{document}
⟹ log file contains
warning (pdf backend): no pages of output.