One way to reduce the amount of revolts in the legions could be to reduce the length of service (how much is something that I've been trying to work out for a potential roman TL) and rescind the ban on marriages and families. The idea is that poor romans looking to provide for their families could go out and serve for 5 years and when the legions get mutinous the impulse will be tempered by the knowledge that A: I could be killed when I'm going home in a couple months, and B: If I revolt my family will suffer for my mutiny. Reducing the burden of joining the legions would also help bring in more recruits and which would make it less of a blow to the strength of the army to carry out harsher punishments for mutiny en masse (ranging from large scale executions, to enslavement/forced labour, to dismissal without pay or pension, for thousands of mutinous soldiers rather then giving them pardons and recruiting them when they're beaten).
The idea was to pair these reforms with a conquest of Germania and over a couple centuries the establishment of borders of the Oder and later the Vistula so that in the event of mutiny the soldiers are far from Rome and the Princeps and the Empire will have many more old veterans who could be recalled for temporary service. I thought a good point to have the first reforms to service length introduced was by Germanicus (the PoD was Tiberius dies in 16 AD, Germanicus succeeds him and adopts Drusus as his heir, the plan being to have their children Nero and Julia marry but court intrigue would send the plan awry) as one of the causes of the Rhine revolt was that soldiers wanted their length of service reduced, the same complaint is said to have been made by the soldiers in Pannonia when they revolted, a situation which was dealt with by Drusus.
Edit: Forgot to mention, the early Emperor's spend a lot more time out in the provinces campaigning forcing the Senate to shoulder more responsibilities and keeping the Praetorians spread out across Italy and the Empire as without Sejanus acting in Tiberius' stead they don't end up concentrated as one unit in Rome, this however could lead to problems with the urban cohorts.