This is my personal opinion:
The Republic assisted by the Jedi order, are trying to bring peace to the galaxy. The republic views the Sith Empire as evil, and though they do not strike out against them, they defend and push them out of their space when they can. Some of the higher levels of both the Jedi and Repiblic think that peace can be obtained without an all out war.
The Sith Empire views the republic as week and misguided. The race of the Sith was found by dark jedi and interbreeding created the race of what we now call pureblood Sith. The Sith Empire views everyone except force sensative humans and sith purebloods as gravel beneath their feet, there to be crushed and used to their liking. An interesting fact, if a sith pureblood is born with out being force sensative, it is either killed or sent to slavery. Once a child shows their force prowess they are sent to the academy.
The Jedi believe that the force is there to bring peace, and through meditation and training, comes true power. They embrace the light side of the force, and view the darkside as powerful, but ultimately corrupting and destroying everyone who embraces it.
The Sith embrace the darkside, and view the Jedi as mistaught fools. They respect the great Jedi warriors, but their school of thought is that only through battle, death and use can one master the force. The Sith view their entire lives as a journey to understand the force better, and the only way to do that, is to fight the Jedi.
With absolute power comes corruption though, several Sith Lords obtained power, and instead of leading the Empire to power resulted to trickery and deception to "negotiate" advantages with the Republic, which has caused a huge rift in the Empire. One side things that there is honor in combat, and they should stand and face their rivals. The other is bent on wiping out the Jedi Order and ruling the known universe.
I guess my personal view is, each side see's the other side as they "bad guys", but there is no good or evil, only light and dark. And both sides have their honorable warriors, and their power hungry fools. The Empire embraces battle and choas while The Republic embraces peace and harmony. So your agenda VS agenda is a good way to put it.
I think in the earlier stages of the timeline the Empire was more noble and had more dynamics at play, and the movies were at the end when the Empire had changed and the Dark Lord was finally reaching the culmination of his extermination of the Jedi.
TL

R - i am rambling, its hard to put to words my views lol... i personaly think both sides are good, but the empire is driven by an evil person.
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