It's almost impossible for us to comprehend, because of our finite minds and severely limited knowledge about things, but the fact is God gave each of us the freedom to choose to accept Him or reject Him, and gives us the freedom to, apart from Him, choose our own course in life. And we also have the freedom to live with and sometimes suffer the consequences of some of the choices we make as a result of the free will given to us by God.
If, as you say, God, being sovereign, omnipotent, and omniscient, creates us, knowing what each of us is going to do and knows how it is all going to turn out, where is the freewill? Don’t we have to do as He has planned for us? How do you know you could have made different choices?
See my 186 post. It is very much within our finite minds to comprehend. I also think the prophets of old, Christ Himself as flesh incarnate and the Apostles also had this understanding. Want to know the infinate truths? Ask God, He will tell you, it requires a relationship.