Some points:
- As it concerns the settlement of Northern Europe, I am in complete agreement with the point made by MC. I would only add that IMO the Roman conquest of Germania would cause the development of the heavy plough and the three-field system in relatively short order (some decades). For an in-depth analysis of the effects of this innovation, see the thread quoted by MC. But the main effect would be that Romanized Celtic-Germanic Northern Europe would in some centuries become as heavily populated as IOTL High Middle Ages, with the related increase in military levies, trade, and taxes for the Empire.
- In all likelihood, these additional resources allow the Empire to withstand any pressure from Slavs/Balts/Finns quite easily. Occasional major waves of Central Asian nomads might still be a significant military threat for this Roman Empire, but at the very worst they would cause a temporary dynastic crisis, or the breakup of the Empire in WRE/ERE halves, not the permanent political fragmentation of the Romasphere. With the Romanization of the Teutons, independent barbarians utterly lack the demographic basis to create the permanent Balkanization of Europe.
- As it concerns the distances involved in the maintainance of a frontier in Nubia and on the Vistula-Carpathians-Dniester line, I would point out that an Empire with these borders and the related development of Northern Europe, not to mention typical Roman engineering genius, easily could and likely would engage in the expansion of the Suez canal, and the creation of a set of linked canals in Northern Europe.
The Rhine, Weser, Elbe, Oder, and Vistula can be easily linked by a canal system, and they can also easily extend it to the Nemen, Dvina, and Dneiper, if they expand the Empire to the Dvina-Dneiper line. The same way, they can link the Danube, Dneister, and Dneiper. Linking the Rhine and the Danube is only slightly more difficult, you need to cross mountains to change watershed. They ought to develop the summit level canal, but Ancient China did in 4th Century BCE, so it's wholly doable. The Elbe and/or the Oder can be linked with the Danube, and/or or the Vistula with the Dneister. Combined with their excellent road system, and coastal navigation, this would settle their transportation needs over most of Europe. The canal system may be extended westward, too, linking the Rhine with the Scheldt, Meuse, Seine, Loire, Rhone, Saone, and Garonne rivers.
This canal system could and would solve any significant difficulties for the Empire to guarantee military supplies and troop movements, as well as extensive trade, with the border provinces in Nubia and Eastern Europe, in combination with the excellent Roman road system.
Moreover, the Suez canal, and the sea routes through the Red Sea and the Persian Gulf it opens up, would indirectly but significantly reduce the (over)extension problems in maintaining Roman provinces in Parthia.
- Last but not least, the Vistula-Carpathians-Dneister line and the Zagros Mountains are optimal borders for the Roman Empire in the 1st-3rd centuries. However, these would not be the final, maximum borders of the Empire.
It is most likely that these borders would prevent the collapse of the Roman Empire in the 3rd-5th Centuries (even if the Empire would need to exploit this breathing space to evolve some effective solutions to the serious defects of its socio-political framework in order to ensure its truly long-term survival). If the Empire holds together, the Dark Ages are butterflied away and in a few centuries Rome would evolve its technology to High Middle Ages levels, both from homegrown development and from unbroken cultural exchange with India and China.
An Empire with these borders, a fully developed Northern Europe, and High Middle Ages technology could easily sustain the expansion to absorb Parthia and Sarmatia, bringing the border to the Dvina-Dnieper (and later the Volga) line, in the NorthEast, and the Indus and the Jaxartes, in the SouthEast. Sustainable absorption of India wiuld probably require mastery of Renaissance technology.