Had Peres won in '96 - or had Rabin lived and won - then Oslo would likely have remained relatively on track, and final status negotiations would have commenced much sooner.
That said, it's highly unlikely even a Peres or Rabin-led government would have made an initial offer sufficient for the Palestinians. Remember that Barak's offer was considered generous, and it included annexation of 9% of the West Bank (with a 1% land swap), Israeli control of Palestine's borders and airspace, annexation of a long strip of territory east of Jerusalem, with Israeli control of the road connecting the southern and northern West Bank. Say what you will about Arafat, but no Palestinian leader could accept something like that.
The key difference here might be that the Barak negotiations at Camp David were very much an 11th Hour affair. There had been no prior negotiations about final status issues until Camp David, because Barak had put off the Palestinian issue to focus on a peace accord with Syria which fell apart over access the Sea of Galilee. Barak's coalition was about to collapse too, so final status negotiations were something of a hail-Mary for him, under conditions that were hardly ideal for a peace accord.
Had Peres or Rabin been in power and final status negotiations commenced on schedule and after prep work, then perhaps the rejection of the initial offer wouldn't have been followed by the process' complete collapse, and subsequent negotiations, perhaps around the time of OTL Camp David and Taba would have produced a viable plan.