Firstly The Empire is hated?TheDarkling
Jedi Knight
The empire isnt beloved its hated, the federation is beloved and thus sice imps already have problems on the home front they will remain.
You speak of current humans not ST humans, hmm an empire where people can be enslaved and crime is rampant or a democrarcy wher I am free - which would you choose? not that it matters because we know which one the feds would choose.
There are numerous examples of empire hating in the canon films, Firstly We have various rebelys who "Don't love the empire" but instead "Hate it"
Next we have the end of ROTJ SE with vaious groups celebrating the death of the empire
-Endor
No brainer, these are the rebels and a bunch of ewoks
-Tatooine
They Probably disliked the empire because it curtailed their Criminality
-Bespin
Recently taken over by the empire, populance probably not keen on it.
-Corucant
This is probably harder to rationalise, but not impossible
Only about two thousand people [rough guess] are shown rioting here, on a planet with billions. They may well be a disgruntled minority.
On a normal imperial planet [Ref. Truce at bakura] the rebels are viewed with hatred and suspision and there is only a small group of malcontents.
Next we shall examine how beloved the Federation is.
Who are the people who love the Federation?
Starfleet officers
Who are the people who have an apparenton space transport in the tng era federation?
Starfleet officers
Who are the people who benefit from the Federation?
Yup Starfleet officers
It should also be noted the Federation also has slaves
In an episode of Voyager all the EMH mark 1's the federation no longer wants are used for slave labour in dilitium mines,
As a side note back in the days of TOS three people could man a fully automated dilitium mine, clearly the federation has lost some of its scruples
And on the subject of crime it should be noted the Feds turn a blind eye to having an illegal arms dealer on their station (quark in ds9) all except Odo who is not actually a fed.