What do they call it with packets, "quality of service"? FIFO.
It's a good plan but you have to make sure fairness is ensured. It's the same feeling as, if I go get a burger & fries, the guy behind me orders identically, burger and fries, and somehow gets served first. The instinct is to say, "what the heck, why does HE get fast service than me in a straightforwardly unfair manner?!?"
So you'd need the empty bus and full bus to hit the same spot at the same time, fill the empty bus as the full one unloads. But which bus leaves first? If the former empty bus leaves first, you're being unfair QoS to the people who are seated on the full bus (which, to their perspective, at their prior stop, was the first-in-order-on bus so therefore should be the first-in-order-off bus. On the other hand, if the full bus leaves first, why did you make incoming passengers board the empty one? They should have boarded the full one to get to their destination faster.
The solution, which we see in practice, is to have the empty bus wait 5 or 10 minutes and let the full one get ahead. If we are seeing rounded fairness to all parties as the priority.