Strictly speaking ,yes.
Revenue's attitude is that it is up to Revenue ,not you,to determine whether you are liable to pay tax. From what you say if you are earning income from a trade or profession purely carried out abroad Revenue state that you are not liable to Irish income tax.
Income earned from non-working sources is liable to irish tax -rent etc -though the amount you pay depends on tax agreement with country where you are living. I suspect this is what revenue want to know. However, from what you say your income is purely from foreign employment.
i was dealing with many Irish people working abroad -like you, domiciled, ordinary resident but nonresident -one of seven categories that Revenue lists in "guide to completing pay and file return" .
Some of the staff working abroad submitted the forms,some did not. No punishment but a bit of hassle and questions for some of the non-submitters on their return to UK.
Incidentally, if you're away three years your status changes. Study the categories.It's fun!
Anyway, submit the form.Saves possible future hassle.