Any radical transformation in case of incarnation without fall?

There are some reasons considered by the Catholic Church to assume the Incarnation even without the Fall . Simply speaking, Jesus would come even if Adam and Eve would not have eaten the apple. There are good biblical arguments (Romans 5:12-21 ) that there will be no (human) death. This concept does not contradict science as treated by Aquinas and interpreted here . An important aspect of incarnation is radical God's self-giving, the kenosis that happened by the death on cross. I assume that also people shall practice similarly radical self-giving (John 15:13 ). **Question:** How it would be possible to lay down one's life for one's friends if there is no death? **Note:** I heard somewhere that there would be some transition like this, just without sorrow and pain. Similar to Mary's assumption. How it would look like? Would the person after the transition still be on the Earth? I would appreciate Catholic position.