Due to their immature and selfish nature, they'd still rule unjustly in a similar manner to Freeza and would be confronted by the Dragon Team, leading to the death of all but Gohan. As their attacks wouldn't be as frequent, however, Gohan and Trunks would be able to progress to the level where they could fight them and Gohan may not have to lose his arm. Them not randomly destroying any area they please would also secure Karin's safety, allowing for more senzu to be grown. Gohan and Trunks eventually defeat #17 and #18, likely around the same time Trunks fought them alone. The time machine would be abandoned and building a ship to go to New Namek would be chosen instead, with Kaio giving them the co-ordinates. All of #17 and #18's victims are thereby revived, though Galu can't be due to death by natural causes. Instead of stealing the time machine, Cell tries to use the Dragon Balls to revive #17 and #18 once sensing the Ki of Vegeta and other formerly dead warriors, though is eventually found thanks to the Dragon Radar and defeated by the Dragon Team's combined power. Some years later, Shin shows up and Gohan, Trunks, Vegeta and Piccolo go train on the Kaioshinkai. With 4 main fighters rather than one, they defeat Dabura and prevent Shin's death. Peace returns here and Beerus still living as well as no Goku means Zamasu's plans are changed drastically. Either they don't happen at all, or he chooses a different universe before eventually being found by the Daishinkan.
Of course, this means Zen-Oh erases Universe 7 at some point in the future though.