My take on everything Sabinus did after Nero's death - from declaring himself Emperor to claiming to be Caligula's son to trying to claim Nero's legacy by marrying his widower (it's complicated) - is that it was a pure desperation shot once realised that Galba was likely to get rid of him as soon as he'd secured Rome.
Suppose Sabinus, in addition to having the loyalty of the Praetorians, had a bit more foresight and realised earlier that the was no future for him in supporting Galba. So instead of initially declaring for Galba (as OTL) he simply has the Praetorians kill Nero and proclaim him Emperor.
So:
- Sabinus controls Rome with the Praetorians and has proclaimed himself Emperor
- Galba is in Spain, and his troops have just proclaimed him Emperor
- Verginius Rufus is at Vesontio (Besancon) and his troops have just proclaimed
him Emperor
- The Senate is in a blind panic, because they don't want to legitimise succession by assassination but Sabinus and his Praetorians are right there...
- Otho is in Rome and no doubt plotting furiously
- Vespasian probably hasn't heard of Nero's death yet but will be very interested when he does
and I have no idea how the Danube army will take all this.
To get back on topic, I remember reading a theory that "precedent-breaking" Roman emperors tended to die early, but ended up "legitimizing" an emperor having their precedent-breaking traits. Should Nymphidius have succeeded in declaring himself emperor, I could see future Praetorian Guard officers becoming emperor, since he set a precedent for it.
Well. if it's regarded a precedent, I can see the post of Praetorian prefect being abolished and future Emperors commanding the Guard themselves, or making their heirs Prefect, or dividing the Guard between multiple trusted subordinates. Giving anyone even potentially disloyal a straight shot at the purple would be way too risky. Something of the sort seems to have happened OTL after the Severans. Of course, if a tradition appeared by which the post of Praetorian Prefect was always given to the Emperor's chosen heir, it might act to stabilise the Empire somewhat.
OTL, the Year of Four Emperors created the precedent that an Emperor could be created outside Rome, by acclamation of the soldiers. This precedent then went into abeyance for the next hundred and some years, until it reappeared in the Year of Five Emperors...