I think He does plan; in Revelation (6:10-11) it talks about how there is a certain number of people who would die (a number that must be completed) which brings me to the thought that because God knows what will happen in the future He May plan it however He wants. This does not necessarily mean that we are robots without choice. I’ll give an example to hopefully convey my thought process here:
Say there someone like God who is in charge of a group of people who are on a cliff. Now say this person put warning signs up to keep the people from accidentally getting to close to the edge and falling or running off. Now say He can tell who will obey the signs and who will not. He can plan on who decides to obey and who does not, similar to chess. When you play chess, and you are very good at it, you can predict what move your opponent will make next many times and plan your strategy based off of this. This does not mean that your opponent was forced in the least to make any certain move (well unless they’re in check or whatever, you hopefully get my point); we can still make choices but also have a plan placed before us by God.