Of course, God is omniscient. He foresees how we will choose before we do. One way of putting it is that God lives in Eternity, so that all of time is Present to Him.
But the fact that God foresees how we will choose does not prevent us from choosing freely.
Nor does it preclude Him from foreordaining our actions.
Let me elaborate:
Judas was free to choose his path, but he chose evil, since by nature, he was a thief. But God knew and foreordained the actions of Judas down to point where Jesus said that the one who dipped after Him would betray Him.
Unless you believe Judas did not have “free will”.