How would've Robert changed as a king and/or man if Lyanna had lived to be his wife instead of Cersei?

In this scenario, everything else stays the same except she lives after giving birth to Jon. Ned still takes Jon as his bastard.

It is of my opinion that the world would have massively changed. I think that marrying and living with Lyanna would've been enough to satiate Robert for many years, before he inevitably returned to drinking, hunting, and his other indulgences. This would've greatly benefitted the realm on its own. The largest benefit would've been Robert's love for their children. I think he would have really cared for his sons (maybe daughters), and led them to be far better than Joffery or Tommen.