If tempdb is genuinely full, you can shrink it.
But it is not common to see tempdb to be full for a longer period of time, as the cause is some operation that requires workspace in tempdb, and when that operation fails, the space it has allocated will be released. In this case, you can try tio shrink tempdb, but what's the point? It's not full any more, so there is no issue.
If tempdb is full and remains full, this would be because someone has created a large table and is clinging to that table. In that case, you would need to find that table and drop it. (And possibly talk kindly with the user behind it.)