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Can -wal -shm files be deleted if -wal file is empty?
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Sufficient for what?

If you're sure of those things you mention, you can delete the *-wal and *-shm file. But if you're incorrect and delete them, the database may become corrupt.

If you use the shell tool to clean up the *-wal and *-shm files, it will simply delete them if the *-wal file really is empty and unused. But if it is not, then the shell tool will not corrupt the db. So usually it's better to do it that way.