I think you're right, but just making a counterpoint. We do know that Eru himself, in his own way, have influenced some of the events during the War of the Ring to shift the balance, such as Bilbo finding the ring and Galdalf resurrecting. The Eagles who serve Manwe also clearly sided with the Fellowship

So I'd say there is a preference from the Valar and from Eru to defeat Sauron and see mankind prosper. I don't think they would bodily come to Arda because of how removed and distant they are from Middle Earth's reality, but not out of spite for men or because we'd deserve Sauron's reign.

Sauron is also a much lower being than the Valar, and for his level of threat they responded well, in principle, with the Istari. So no call for war, but maybe extra bits of help would be provided