1.) If you did come back (which is impossible) a split second after you left, then sure, it would all be the same.
2.) It's impossible not to alter the timeline. Have you ever heard of the butterfly effect? It means that even if you did as little as kill a butterfly while in the past, the future would be dramatically different. That butterfly couldn't fly down the street, which wouldn't make a little girl stop and look at it, which means she didn't get in line for ice cream after you, which means your spot in line was one person longer, which means you get your ice cream later, which means you cross the street later, which means you get hit by the drunk driver that would have come after you crossed normally, which means that everything you would have done during your life wouldn't happen, which means that everything you did (like killing another butterfly :P) that had an infinite number of consequences never happened, which means that the future would be entirely different. That's not the exact theory of course, but that's the logic behind it. It could also be if you accidentaly bumped into someone on the street, said hi to someone, picked up a piece of trash, stopped in one place for too long, etc.
3.) It doesn't matter if they're wearing invisibilty cloaks, read 2.) :)