On a small level, I think that some of the areas it's behind on (security, layout) might have eventually turned out to be improvements. Stylo and WebRender were behind Firefox when they first began development as well, they were experiments to see if Rust could enable differing patterns. I personally think those experiments would have been useful to try and replicate for layout at the very least, although I don't know for sure if they would have yielded fruit.
On a bigger level, I think having a more easily embeddedable Firefox could change the dynamics around V8 and Chromium could end up being pretty important for the health of the web overall, including the health of Firefox.
There's an argument to be made here that none of that potential is gone because, hey, Servo is still being developed. But I think it could have gone faster with Mozilla's support behind it for longer, I think they would have served as an effective advertising/hype engine behind the technology. I think the dominance of Chromium for embedded applications does influence how developers approach the web in some minor ways.
On a really out-there level, I would like to see HTML-like interfaces proliferate in more apps, and Servo in particular has a very modular approach that could make it more feasible to bring in the DOM without bringing in languages like Javascript (yes, manipulation and events and all that stuff would need to be accessible without JS, but... it's certainly easier than it would be with Chromium, Stylo already makes some interesting applications possible). If I had to pick a company to push that effort that I didn't thing would horribly mess it up, Mozilla would be high on my list. And I vaguely maybe suspect that pulling more browser technologies out of the web could open up more technical fields and niches for Mozilla to get its hands into. Right now what that area mostly looks like is Electron or embedded Chromium. At most you have embedded JS engines like V8.
I'm hoping that there's some potential to do more interesting things, and I think it could have been valuable to Mozilla and it could have increased developer investment/mindshare if Mozilla was a bigger player in those areas.
But that's just my instinct, maybe I'm wrong.