If there were only baryonic matter and dark energy constituting a flat universe, would the universe look any different?
I think another way to posing at least this part of the question is "What are the observable phenomenological effects of dark matter phenomena?"
This would change the cosmic background radiation signature, as previously noted, although nobody but a few astronomers and physicists would notice, and even they wouldn't care very much except that it would serve as evidence for the absence of dark matter in the universe.
More importantly, it would really materially change galaxy dynamics, impeding galaxy formation and making those galaxies that did form smaller. In a world without phenomena attributed to dark matter, for example, the fringes of spiral galaxies would spin off into space, the large scale structure of matter distribution in the universe would be much less strongly organized in a filamentary manner, and galaxy clusters wouldn't hold together as well. Put another way, the distribution of matter would be more homogeneous at smaller distance scales than it is today.
As inhabitants of a system at the edge of a spiral galaxy that would not have been within the gravitational bounds of the galaxy without dark matter phenomena, this would probably leave our system a stray in deep interstellar space, assuming that it even formed in the first place given weaker cluster dynamics.
I use that phrase "dark matter phenomena" rather than "dark matter", since it is possible that all or most of the phenomena attributed to dark matter could instead be due to discrepancies between general relativity as conventionally applied to galaxy and larger scale systems, and the actual weak field behavior of gravity in real life. But, the mechanism causing these phenomena is basically irrelevant to the consequences of these phenomena being absent.