If Jesus is embraced by the majority of Jews, then Christianity as we know it probably never exists. Christianity is simply Messianic Judaism. There could be an evangelical campaign, but it would be tied to Jewish law and tradition, severely limiting its spread. This will have major consequences, but those will be most noteworthy down the line, when Roman paganism goes into decline.
Then we get to the Jewish Revolt. Thing is, ITTL Jesus is probably still alive at this point, and acting as the acknowledged spiritual leader of Judaism. He would probably try to put a hold on violence and negotiate an end to the tensions. So we might not have a Jewish Revolt in 66 CE. Or, if I were to write this as a story, the revolt begins despite Jesus' denunciations, but when Vespasian arrives, Jesus surrenders Jerusalem, then offers Jewish support for Vespasian in return for the religious autonomy they were aiming for all along.
I see two possible legacies for Jesus, mostly dependent on whether or not he ever has children. If he doesn't, then he will probably be viewed as the Messiah, and his death presented as him ascending to heaven (a la Elijah), so he will eventually return. This ultimately has little impact on history (aside from the absence of Christianity), with Judaism looking mostly like its OTL self, aside from maybe not losing the Temple.
If Jesus does have children, then I think his legacy will be something like a Jewish Mohammed. His heirs will displace the Herodian dynasty as the rulers of Judea, claiming both spiritual and temporal power. If they can avoid getting crushed by Rome for another century and change, then they'll be well-placed to take advantage of Roman instability, especially if they keep up the evangelizing, at which point Judaism starts to look more like Islam.