In 1682, Ivan Alexeyvitch Romanov and his half-brother Peter were crowned co-tsars, with Ivan V being nominally the over-king. However, Ivan was physically and mentally infirm, and was dominated by his sister, teh regent sophia. He died in 1696, and Peter I (the great) assumed full control over Russia.
What if Ivan is healthy, without his OTL disabilities? Does Peter ever get proclaimed tsar? Can Ivan seperate himself from his sister's domination? What effect does a stronger Ivan, but no Peter, have on russia?