There is a commentary for Star Wars which I created myself which is very good.
For the others, I didn't bother.
The best "commentary" you're ever gonna get for Empire is Jamie Benning's lovely scholarly disc Building Empire, which was at one point called Empire "Audio/Video Commentary." His documentary has some commentary and teaches you a lot. Who needs a traditional commentary .... if you want the 2004 commentaries, watch them on the 2004 discs I guess ...