Imperfect is possible as well in aller faire and venir de faire used as auxiliary temporal constructions. I believe the imperfect aspect is forced by the meaning.

If you say

La Lexus CT 200h venait tout juste d’être lancée en Europe.

you necessarily talk about a past time. Note that historic present could also be used in some cases.

Concerning normal verbs, I can’t see any difference in tense usage that could be related to the auxiliary verb that is used for compound tenses.