The Bible does not teach predestination. It teaches that God gives humans choices and holds them accountable for their actions.
Deuteronomy 30:19 says:
"This day I call the heavens and the earth as witnesses against you that I have set before you life and death, blessings and curses. Now choose life, so that you and your children may live"
God evidently does have the ability to tell the future, but he has unlimited knowledge and sight, as well as the power to cause anything he wishes to happen. Consider these examples: if a parent tells a child that they will get burned if they touch something hot, and then it happens just as the parent said it would, that is not a prophecy fulfilled - that is simply having a superior knowledge of the consequences. Likewise, if a parent tells a child that they themselves will punish the child for bad behaviour, and then they have to carry that out, this is also not a prophecy fulfilled - the parent used their own free will to carry out what they previously said they would do.
We do not comprehend how God sees the future, but evidently, he does not predetermine our futures as individuals, otherwise he would not give them choices or hold them accountable for their actions. His 'plans', as referred to in the verses you quoted, were things he wanted to happen and could cause to happen.
At Luke 19:40, Jesus had been asked to stop his disciples from preaching, but in reply said:
“I tell you,” he replied, “if they keep quiet, the stones will cry out.”
Jesus disciples preached because they used their personal free will to respond to the call. Although Jesus was using hyperbole in this verse, the point was that God would see his will take place even if nobody responded to it. Again, this proves that he causes what he says will happen to happen, and this does not conflict with the concept of free will.