well the way I understand it, we have free will to make choices but G-d knows our choices in advance because He is above time. But that doesn’t mean He controls our choices just as someone with a time machine who went back in time a few minutes can’t change what I just said (he could put a gun to my head but I could choose to be a martyr and type it anyway if I was that passionate about my FR posts...)
The entire purpose of the Tree of Knowledge of Good and Evil that God put in the Garden was so that Adam and Eve would have the free will and the choice to obey Him or disobey Him. And Adam and Eve were made to take tragic responsibility for their unwise use of their free will.
And we have free will today. Like, for instance, the free will to believe that God created this world, and all worlds, or to believe that earth was an accident, the sun was an accident, the cosmos was an accident, and we are accidents.
Free will, and free choice. And man will be held accountable to God for how he exercises his free will and the choices that he makes.