Better diplomacy with the Popes probably would have eased domestic problems, and staying out of the depths of the Balkans would be salubrious. The Mezzogiorno south of the Papal States including Malta, Sicily, and Sardinia should be holdable.
The further into the Balkans the Normans moved the more costly it became, nor did they have the strength to contest Constantinople, and even if they were given it the treacherous city would have been their tomb. Being bogged down in an unprofitable campaign exposed weaknesses that were exploited by intrigue. Staying on the coast or returning to Italy should let the Normans grow their strength. Negotiating a peace after the Norman victory at the Battle of Dyrrachium, and then formalizing inheritance in Italy would have great stabilizing affects. They could have focused on building a stronger navy, or even have begun strategizing the Crusades at this time. The Normans could have contested Corsica, or if they had better diplomacy could have extracted Corsica from the Papacy in exchange for a defense treaty.
A more stable Norman Italy could have led to a stronger Norman position in Antioch after the First Crusade, one that never submitted to the Byzantine Empire, and that could have helped sustain the County of Edessa. Without the Normans having to maintain a facade of Byzantine overlordship of Antioch then the separate states of Antioch, Edessa, and Tripoli may have become fully integrated into the Kingdom of Jerusalem. If the Normans are able to maintain the friendship of the Sicilians, the Sardinians, and the Corsicans then the Normans should be able to maintain port colonies in Tunisia despite the Almohads.
Without another war with the Byzantines the Normans could expand their territory in Tunisia, and possibly the Crusaders could have taken Egypt. And I agree with previous commenters in this and other threads that with the Almohads aborted then the Normans could have taken Tunisia, parts of coastal Algeria, and northwestern Libya.