Majorian did seek to reform the administration and root out corruption and injustices in it. Wikipedia actually gives a nice rundown of his domestic policy:
http://en.wikipedia.org/wiki/Majorian#Fiscal_policy_and_coinage
So the potential is definitely there, as Majorian seemed genuinely interested in instituting some serious reform.
About succession:
Any successor requires the support of the east, which Majorian is sure to have. Now, a good way to cement the succession would be to find a wife with ties to the eastern court. There's Placidia, daughter of Valentinian III, and the woman who Valentinian intended to marry to Majoriaan in 451 until Aetius got wind of it and quickly ended those plans. She married Anicius Olybrius in 455, but if he were to die suddenly, then she is available for Majorian. Incidentally, she was captured by Genseric in the sack of Rome, so Majorian would be liberating her when he conquered Vandal Africa.