It's best bet is to be a client state, though even then it's likely to get annexed down the line.
The Fact of the Matter is that Judea simply is too close to Both Rome and Parthia to remain independent for very long and even if it did, it would remain a non-entity on the Wider Political Stage.
Prior to annexation IOTL the Hasmoneans couldn't manage to go from one generation to the next without some sort of internal conflict, there's no plausible reason for that to change with Hasmonean Inheritance Laws at the time, which forced the dividing up of land between sons. Herod Antipas, the Roman Client, for example, was Tetrarch of Galilee and his three brothers controlled other parts of Judea for themselves.
In fact the whole reason that Judea got annexed was because Herod Antipas became a client of Rome in order to get control of the other three provinces from his brothers and the Romans decided to stay. It's a situation that just breeds opportunity for foreign intervention.