You have not said but If you have not met your residency obligation then generally it is suggested to wait a couple years before applying to renew. If you simply applied for a PRTD due to being out of the country with an expired card then as long as you have met the RO then sure you could apply immediately on your return.
You do not need to have a valid card to stay in Canada other than maybe sometimes occasionally for ID purposes with some organisations, but you do need a valid card if travelling out of Canada in order to board a plane to come back.