God knew that Lucifer would choose to disobey and become Satan, so there was no gamble. Opposition is necessary in order for agency to exist so because God is omniscient there was no plan B, only plan A. It's not that someone else would have "stepped up", Lucifer was always going to do it. He COULD have made a different choice, but God knew that he wouldn't.
To answer your second question: The way I understand it, God commanded Adam and Eve not to partake of the fruit so that there was a choice, but they needed to partake of it so that we could all come to Earth. Because they disobeyed a commandment, they transgressed, but because they didn't understand the commandment it wasn't a sin. If you read the Institute manuals, there's a lot of information about these sorts of questions. :)