Philip the Fair and Margaret of Austria both die without issue, and the Burgundian Netherlands are inherited by the great-great-grandson of John the Fearless: John III, Duke of Cleves and Count of Mark (also Duke of Jülich-Berg and Count of Ravensberg in right of his wife).
Charles of Egmond has a single legitimate daughter, who marries John III's son and heir, putting a definitive end to the Guelders succession dispute.
The House of Mark quickly loses interest in claiming the arms and title of the Duke of Burgundy, and they pawn off Charolais and Franche-Comté to their Neversian cousins in a marriage dowry. Said Neversian branch is later inherited by a third son of the French king, who kicks off the third House of Burgundy.
(The Jülich lion gains a crown and a forked tail to differentiate it from the Flanders lion.)