One of the things that distinguishes man from the other animals is that he wants to know things, wants to find out what reality is like, simply for the sake of knowing. When that desire is completely quenched in anyone, I think he has become something less than human.
We may think God wants actions of a certain kind, but God wants people of a certain kind.
If God 'foresaw' our acts, it would be very hard to understand how we could be free not to do them. But suppose god is outside and above the Time-line... You never supposed that your actions at this moment were any less free because God knows what you are doing. Well, He know your tomorrow's actions in just the same way--because He is already in tomorrow and can simply watch you. In a sense, He does not know your action till you have done it: but the moment at which you have done it is already 'NOW' for Him.