I think we can get Augustus to do it. Actually, I think we can get him to have a whole stack of 'Junior Emperors' (not that they'd be called that...)!
PoD - Agrippa survives his illness in 12BC, likely caused by his exertions in Pannonia the year before. At age 51 and a healthy soldier otherwise, it seems reasonable that he might live for a while longer.
Most immediate change - Tiberius then doesn't marry Augustus' daughter Julia (and therefore isn't forced to divorce his wife - likely making him a
lot happier in the long run!), becoming, along with his brother Drusus, heirs presumptive (at least for now). Instead, Agrippa continues being practically co-emperor (in 18BC, he was given Tribunician power, and had
imperium covering a very large chunk of the Empire) - Eck suggested in
The Age of Augustus that this was also partially to please the Caesarian supporters
However, Augustus doesn't like the fact that Agrippa nearly died from an illness. He looks around at his potential 'heirs':
- Agrippa (obviously): Augustus' friend, Respected and talented general, but now 51 years old.
- Gaius Vispanius: Agrippa's eldest son by Julia, 8 years old. Augustus' grandson. Adopted by Augstus in 17BC.
- Lucius Vispanius: Agrippa's second eldest son by Julia, 5 years old. Augustus' grandson. Adopted by Augutus in 17BC.
- Drusus: Augustus' younger stepson by Livia, 26 years old.
- Tiberius: Augstus' elder stepson by Livia, 30 years old.
- Germanicus: Drusus Claudius' son by Antonia, 3 years old. Augustus' grandson-in-law.
- Agrippa's children by Attica?
Now, at this stage, Augustus had been pretty adamant about being the
princeps, whilst even Agrippa is merely his assistant. So whilst it's tempting to say that we can just have Augustus change his mind... I doubt it.
Let's instead formalise the process Augustus had begun. He officially designates Agrippa his
socius, 'ally' (borrowing a word from Tacitus
Annals 4 here). However, he wants a backup too, in case Agrippa dies off - and conveniently for our purposes, Tiberius and Drusus are about to cover themselves in glory with their Germanic campaigns. Augustus names both of them as
adiutores, 'assistants' (again, Tacitus). That's 3 top-level military commanders too - and at least Drusus & Tiberius need further commands to boost their reputation, so the German campaigns are likely to continue.
But remember, in the long term, he really wants his grandsons Gaius and Lucius to be Agrippa's heirs. So, I reckon he goes for rewriting his will to name them both
adiutores if he dies (maybe).
Whether of not this actually goes anywhere is a different matter. If Drusus still dies in 9BC, that's not too much of a problem, but it's all dependent on Agrippa - if he's still around, I think his sons are likely to live longer too (particularly because Livia may not dare go for her OTL shenanigans, if that is what killed off Gaius and Lucius).
In any case, there's now more of a tradition of having multiple back-ups and multiple generations of obvious heirs being given power. There's also an insane danger of Augustus' stepson(s) vs. his grandsons in a terrible civil war, but hey, that's Rome for you!