From what I recall, Spielberg wanted to direct Return of the Jedi, and would've done the prequels if he was asked, but repeatedly said that star wars is "George's baby" ie only he wants to do them himself and no one else and that SS respects that.
Empire being directed by Irvin Kershner was a fluke. Lucas hired him thinking he could tell him what do to, but once he was on set he refused to take any instructions from Lucas. That's why the acting is by far the best in Empire, since Kershner coached the main cast through their performances and encouraged multiple takes and changes to dialogue that didn't work.
Lucas didn't make the same mistake again, and for Return of the Jedi he got Richard Marquaud who was basically deferring to Lucas for most things.
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