I would like to think of it like this. God isn’t constrained by time. Only the universe is. So while God knows how everything is going to play out, you still have free will and choice to do as you please while alive.

If humanity starts doing things that will deviate from God’s will, He can work through us to bring about the change needed to keep that path.

The universe is constantly changing, but God is in control. Free will doesn’t have to interfere with the ultimate plan if God can influence things in ways that allow us to still choose. He can work through those that listen to Him and freely choose to further his will.