Libertarian free will denies innate human corruption. Empirical evidence supports people are born with a sin nature. When did you start to teach your children to lie?
Thus God does know about the decision that a human being could and will make following his nature, and God knows the decisions a human being could but will not make if he acted contrary to his nature, and God knows that without a little help from God (like replacing a dead heart of stone with a living heart of flesh) the human being will always freely choose to follow his nature and never choose to follow the "foolish" things of the spirit. God's word will be snatched up by the WORLD, or wither on the rocky heart, or get choked out by life ... unless God first prepares the soil to receive it.
Sorry for the mixed metaphors and scrambled word pictures, but I hope you get the idea.