Probably would have been sexually abused by those criminals that used him to commit crimes. Beast Girl would want to be feminine the same way BB wanted to be macho. A lack of self-esteem would make her grow up into the type that's attractive but doesn't see it herself. Also, if sexual dimorphism applies to her, she'd probably be weaker than BB.>Cyborg
He wouldn't have as hard a time because a big reason he hated being half-machine is because he lost his man parts. Though I having your female parts removed would also be a huge deal.>Raven
Not much would change. There's not really a part of Raven defined by her gender.>Robin
Pretty much the same as Raven, though I could see his dynamic with Starfire being a bit different.>Starfire
Depending on their view of sexuality, her time spent as a slave to the Citadel could have been worse. He'd probably get in a lot more trouble due to his odd behavior.
The series itself wouldn't be any different, but the character dynamics definitely would be.