Combining the Banner's explanation with The Ancient One's (who knows more about time travel than Bruce) this is how I think it works:
Going back in time without interacting with an infinity stone is a predestination paradox, you were always in your own past. Nothing you do will change your future.
If you remove an infinity stone you create a new timeline. These timelines will continue to exist after you return the stone to them. The movie says that if you return the stones to the exact time and place you removed them the new realities would merge back into the original, but it's impossible for Steve to put all the stones back exactly the same way, especially the reality stone (into Jane Foster), and the Power Stone, whose reality is now permanently missing Thanos and crew, and the Time stone, where Loki is on the loose. He might be able to merge the Space stone Timeline back in, so Tony actually talked to his "real" father.
So the new branch realities keep existing, now safe with all their stones. Then Steve travels back to the 1940s, a common past for all the branched timelines. Since no Stone is removed, he is in his original timeline. (In fact, all the Endgame Branch realities now have their own old Steve Rogers). He then lives to the present, any actions he takes merely causing the MCU timeline to unfold as we saw. At some point he has Wakanda make a new shield for him on the down low. There are no moral quandaries about leaving young Steve on ice, and Peggys in all realities get to have a life with their Steve, not just one.
Going back in time without interacting with an infinity stone is a predestination paradox, you were always in your own past. Nothing you do will change your future.
If you remove an infinity stone you create a new timeline. These timelines will continue to exist after you return the stone to them. The movie says that if you return the stones to the exact time and place you removed them the new realities would merge back into the original, but it's impossible for Steve to put all the stones back exactly the same way, especially the reality stone (into Jane Foster), and the Power Stone, whose reality is now permanently missing Thanos and crew, and the Time stone, where Loki is on the loose. He might be able to merge the Space stone Timeline back in, so Tony actually talked to his "real" father.
So the new branch realities keep existing, now safe with all their stones. Then Steve travels back to the 1940s, a common past for all the branched timelines. Since no Stone is removed, he is in his original timeline. (In fact, all the Endgame Branch realities now have their own old Steve Rogers). He then lives to the present, any actions he takes merely causing the MCU timeline to unfold as we saw. At some point he has Wakanda make a new shield for him on the down low. There are no moral quandaries about leaving young Steve on ice, and Peggys in all realities get to have a life with their Steve, not just one.