No absolutely not. Grevious was not like Dooku and Sidious as he was actually trying to destroy the Republic, the same way Nute Gunray and the rest of the Seperatists Council were.
The answer is yes. Grevious gravitates towards power and cruelty, and would have been a useful tool in the hands of the Empire. That being said, I don't think the Empire would have allowed him to live in the first place.
Of course he would join, if palps lets him keep the lightsabers of any Jedi he kills boom now they have most motivated inquisitor. he would probably leave once they ran out of lightsabers though.