Yahweh's foreknowledge and man's free will

The bible shows that men have free will and can choose whether to follow Messiah Yeshua or reject Him.  There are those who claim Yahweh chooses who will be saved and who will be sent to hell.  Others believe Yahweh does not know who will choose which - both are heretical doctrines.  Some aspects of both are in scripture although they have been made into false opposing doctrines that have divided much of "christianity".

When Saul was chosen King and then failed in following Yahweh, Yahweh told him that if he had obeyed, He would have been set up as king and his heirs would be kings over Israel forever.

1 Samuel 13
9  And Saul said, Bring hither the burnt-offering to me, and the peace-offerings. And he offered the burnt-offering.
10  And it came to pass that, as soon as he had made an end of offering the burnt-offering, behold, Samuel came; and Saul went out to meet him, that he might salute him.
11  And Samuel said, What hast thou done? And Saul said, Because I saw that the people were scattered from me, and that thou camest not within the days appointed, and that the Philistines assembled themselves together at Michmash;
12  therefore said I, Now will the Philistines come down upon me to Gilgal, and I have not entreated the favor of Jehovah: I forced myself therefore, and offered the burnt-offering.
13  And Samuel said to Saul, Thou hast done foolishly; thou hast not kept the commandment of Jehovah thy God, which he commanded thee: for now would Jehovah have established thy kingdom upon Israel for ever.
14  But now thy kingdom shall not continue: Jehovah hath sought him a man after his own heart, and Jehovah hath appointed him to be prince over his people, because thou hast not kept that which Jehovah commanded thee.

Saul's heirs could never have ruled over Israel forever yet he was told that  if he had obeyed, Yahweh would have given it to him.  Yahweh knew in advance that Saul would reject Him because King Saul was from the tribe of Benjamin and, back in Genesis, Judah was the one who was promised an heir on the throne forever - not Benjamin.

Genesis 49:10  The sceptre shall not depart from Judah, Nor the ruler's staff from between his feet, Until Shiloh come: And unto him shall the obedience of the peoples be.

 This is extremely interesting to think about and contemplate why Yahweh would let Saul's rejection of Him play out that He knew was going to happen.  He knows who will reject Him and who will follow Him - yet He lets it happen.  I have my ideas of why although it's too dangerous to post them because someone will turn around and twist it making false doctrines to follow (and I'm not sure if it is correct or not- Yahweh has not shown me)

Yahweh definitely guides those that belong to Him -

Proverbs 3:6  In all thy ways acknowledge him, and he shall direct thy paths.

Proverbs 16:9  A man's heart deviseth his way: but the LORD directeth his steps.

Those that do not belong to Him are free to make the choice of following Messiah Yeshua or not.  He will guide those that are His but those who reject Him can stumble down the broad road to hell in darkness following the seducing spirits that are leading them to hell.

Psalms 119:105  NUN. Thy word is a lamp unto my feet, and a light unto my path.

If anyone has any ideas please comment (you don't need to identify yourself and no email address required)