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There seems to be a "school of thought" among some Protesants that the Scriptures dictate to God what must be done.

No, Scriptures display God's dictates.

Thus, the Incarnation MUST have happened. Rather than a free-will choice to show His immense love for mankind, the Incarnation is a sterile part of the "PLAN" that is executed grudgingly.

Not "grudgingly." Joyfully.

"Looking unto Jesus the author and finisher of our faith; who for the joy that was set before him endured the cross, despising the shame, and is set down at the right hand of the throne of God." -- Hebrews 12:2

Does the RCC actually teach that the crucifixion and the incarnation were NOT part of God's eternal plan?

Christ, "the lamb slain from the foundation of the world," certainly thought so it was part of God's plan, so how can we doubt it?

"Then said Jesus unto Peter, Put up thy sword into the sheath: the cup which my Father hath given me, shall I not drink it?" -- John 18:11

"Think not that I am come to destroy the law, or the prophets: I am not come to destroy, but to fulfil.
For verily I say unto you, Till heaven and earth pass, one jot or one tittle shall in no wise pass from the law, till all be fulfilled." -- Matthew 5:17-18

"Not my will, but thine, be done." -- Luke 22:42

Read Isaiah 53 and tell us God has no plan.

"Who hath believed our report? and to whom is the arm of the LORD revealed?
For he shall grow up before him as a tender plant, and as a root out of a dry ground: he hath no form nor comeliness; and when we shall see him, there is no beauty that we should desire him.
He is despised and rejected of men; a man of sorrows, and acquainted with grief: and we hid as it were our faces from him; he was despised, and we esteemed him not.
Surely he hath borne our griefs, and carried our sorrows: yet we did esteem him stricken, smitten of God, and afflicted.
But he was wounded for our transgressions, he was bruised for our iniquities: the chastisement of our peace was upon him; and with his stripes we are healed.
All we like sheep have gone astray; we have turned every one to his own way; and the LORD hath laid on him the iniquity of us all.
He was oppressed, and he was afflicted, yet he opened not his mouth: he is brought as a lamb to the slaughter, and as a sheep before her shearers is dumb, so he openeth not his mouth.
He was taken from prison and from judgment: and who shall declare his generation? for he was cut off out of the land of the living: for the transgression of my people was he stricken.
And he made his grave with the wicked, and with the rich in his death; because he had done no violence, neither was any deceit in his mouth.
Yet it pleased the LORD to bruise him; he hath put him to grief: when thou shalt make his soul an offering for sin, he shall see his seed, he shall prolong his days, and the pleasure of the LORD shall prosper in his hand.
He shall see of the travail of his soul, and shall be satisfied: by his knowledge shall my righteous servant justify many; for he shall bear their iniquities.
Therefore will I divide him a portion with the great, and he shall divide the spoil with the strong; because he hath poured out his soul unto death: and he was numbered with the transgressors; and he bare the sin of many, and made intercession for the transgressors." -- Isaiah 53:1-12