Does the replacement of the Stormcloak jarls with Imperial jarls after the completion of the Civil War have any real effect on quests and the like?

Am I losing out by replacing the more "fledged out" original characters with the more... bland replacements?

Not really. In fact, that reminds me why the CW isn't worth it.

It's just one of those things that I feel I must complete on every character; I just never had a playthrough where I've been this thorough and wish to do everything to the best of my abiltiies/have the best experience possible.