I'm not sure if the scenario you paint could have happened. Japan felt it needed to knock the United States out of contention in the Pacific in order to break the embargo and secure sources of raw materials and labour for the Co Prosperity Sphere and the Empire. Even if the US fleet has steamed out of Pearl Harbour the Japanese may have felt compelled to attack, to deny the US the forward staging area and fleet base, essentially hoping the Pacific Fleet would have to steam back to the West Coast or die on the vine. (The Japanese were apparently unaware that the USN had been conducting experiments with fleet replenishment under weigh, and American Admirals were quite quick to suggest that this was the real key to the American victory in the Pacific).
Given the entire Japanese naval strategy rested on the idea that the US Navy was quickly knocked out of the war, and making the (unwarranted) assumption that American industry wold not be able to replace the fleet in any reasonable period of time, they might have chosen to attack the base and destroy the fuel and facilities based there, then steam on seeking to engage the US battle fleet before it could escape to safety.
The only way to avoid this branch of history would be to scroll back further into the 1930's where the Imperial Army and Imperial Navy were engaged in a power struggle over which direction the Empire should expand. The Imperial Army argued that taking Siberia would secure a rich resource base, secure from both attack and close enough to the home islands that transporting the materials would be easy and relatively safe. The Imperial Navy argued that the European Empires had already developed resources in SE Asia, and there was an existing pool of labour available to extract these resources for the Co Prosperity Sphere. The Imperial Army had the upper hand until they were defeated by the Russian Army at the Battles of Khalkhyn Gol, when the Naval faction gained ascendency and pursued their "southern" strategy.
If Stalin had managed to purge all of Marshal Mikhail Nikolayevich Tukhachevskii's mechanized warfare acolytes in 1937 (including Georgy Zhukov), then it is quite possible that the Russians would not have been able to defeat the Japanese 6th Army, and the Imperial Army's "northern" strategy would continue to have been implemented, avoiding the need for the risky Pearl Harbour gambit.
The United States could continue to press the issue of the embargo, but lacking a Casus belli would not have moved into war (the American public and the Congress were generally opposed to war, regardless of what Roosevelt thought, and only the dramatic action of an actual attack against American forces during a time of "peace" was enough to inflame American public opinion for a war). Imperial Japan would have been able to break the embargo with more and more materials extracted from China and eventually Siberia, while gradually drawing the nations of SE Asia into the Co Prosperity Sphere through economic enticements rather than conquest.