What about this:
[not(MyFirstModule.Recipe_Ingredient/MyFirstModule.Ingredient/MyFirstModule.Pantry_Ingredient/MyFirstModule.Pantry/id = empty)]
This xpath checks if all ingredients of your recipe are associated to a pantry. (It checks if there is none who is not associated with pantry)
This xpath will return all recipe objects that have ingredients that are all associated with pantry. Is this what you need?
Please note that using the not() operation on associations can cause performance issues.