Well if Earth wasn't surrounded by the Warp storm the Eldar would probably still be going fine as if I remember their story right the creation of Slaneesh led to the warp storm around Earth. Also there would probably not be an Emperor, just some strong guy as the Imperial worlds wouldn't have to be reconnected to each other so there wouldn't be as much as a following of him. Also there wouldn't be Space Marines, we'd just have the Imperial Army. But, I suppose they would be in some fancy armour and have nothing but plasma weaponry, but without the overheating. Ad Mech would be changed heaps as well as the STC would most likely still be around, I think they would actually be trying to find the Omnissiah through advancing the existing technology they have.
A few of the races might not have been discovered as well as I'd doubt Ad Mech would have as many explorator fleets going if they didn't lose the STC. So Necrons would probably first emerge on Mars and Tau would probably not be discovered until they ran into an Imperial world. So I guess they would be discovered just fairly differently that they have been.
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