After all, there is a book on Orcish society, a couple townies in Cyseal talk about how they don't think Orcs are all bad, There's Victoria the Orcish librarian, you find an Orc grieving over his dead brother, and once you get to Hunter's Edge you find an Orc and a Human who have fallen in love. Worth noting that the Orcs in Hunter's Edge are no worse than the Humans in Hunter's Edge.
Imps are never described as evil, except by Jahan who thinks EVERYONE is evil.