Do Stormtroopers and Imperials Know They're Evil? Star Wars Explained

In Star Wars, there is always the conflict between good and evil, light vs dark, the Rebels vs the Empire, and the Resistance vs The First Order...but did the bad guys know they're evil? What did they think of Palpatine? Did their views ever change after the Battle of Endor in Return of the Jedi?
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Music - William Maytook