What Darth Vader was during the final few minutes of Rogue One is definitely how the classic looking Darth Vader should’ve been in the final 10 or so minutes of Revenge of the Sith.
I’ll do you one better. The entirety of Revenge of the Sith should have heavily featured the Rogue One hallway-scene Darth Vader. The Prequel Trilogy should have went something like…
Prequel 1: Anakin is already a young adult (great pilot) who meets and by the end of the movie goes off with Obi-Wan to fight in the Clone Wars (also already knows (or meets) and gets together with the future mother of his children before running off to war).
Prequel 2: Anakin and Obi-Wan fighting in the Clone Wars, conflicts arise, Anakin is seduced by the Darkside, fights Obi-Wan, becomes Darth Vader.
Prequel 3: Darth Vader purging Jedi.