edit:
You need an extra empty space on belts to make it work synced, cause there is a difference in length and you need some space to build up the compressed belt. Also 6 stack inserters are an overkill for any single belt.BTW they don't work synchronously. %)
(1 blue belt = 1.5 red belt)
No it doesn't help to fill gaps. The only thing it does is balance between 2 belts. You gonna get evenly distributed gaps instead. But I agree that it helps to balance though.Splitter helps a lot to fill gaps in the lanes from another belt
This way you gonna fill all the gaps: