I meant the institution lasting to the 19th century part.
Servitude lasted into the 19th century in parts of Central and Western Europe, too. What made Russia's special was, beyond the difference of a few decades, which in already fast transformative times like the 19th century meant a lot, the omnipresence of it. And that was due to the continent-wide division of labour between West and East in Europe which predated the industrial revolution (but of course made the latter's occurrence in the West a lot more likely): while the West produced and exported technologically advanced stuff, the East produced and exported agricultural goods. Not exclusively, of course, but the tendencies were clear. And THIS division of labour, in turn, was the result of higher urbanity in the West than in the East. Higher urbanity in the West, in turn, had many reasons and deep historical roots, but one major historical turning point which threw back the East by centuries in terms of urbanity was the Mongol wars which affected the East but not the West.
So, if you want fewer peasants in the East who enjoy greater rights and become citizens of modern republican states earlier than IOTL, your best bet is No Mongol Invasions. Now, geographically Eastern Europe consists of and borders the wide open steppe, so some sort of steppe invasion is inevitable. But that's not the same - there had been incursions from the steppe before the Mongols, lots of them, but none of them brought forth consequences comparable to the Mongols. (Well, maybe the Huns, but that's difficult to judge, and anyway almost a millennium earlier.)
Avoiding Muscovite tsarist autocracy doesn't do the trick. Serfdom wasn't any better in the PLC, for example. And, on the other hand, absolutist France liberated its peasants from servitude at least on the "domaine royale" already ten years before the Revolution.