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How would the Roman Empire have developed if the long period of the Five Good Emperors was more disorganized, or had less capable rulers?

What I'm thinking is instead of Nerva and so forth effectively choosing his successor (and adopting him), each emperor starting with Nerva actually has at least one son and elevates one of those sons to the throne. This is how the reign of the Five Good Emperors ended, after all, when an unqualified son took the throne.
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