Welcome back Evan. Those God saw that accept His Son Jesus, He foreknew because He can see the end from the beginning, and those He foreknew He predestinated to be conformed like unto His Son. As to your question, Jesus is the only way to our Father; without the shedding of blood He shed for us, there is no remission for sin.
Ephesians 2:10 says we are His workmanship, or work in progress, and Philippians 2:13 says, For it is God which worketh in you both to will and to do of his good pleasure. God knew you would say yes; He is not the cause of your choice, but effectually works His grace in the lives to those that do receive His Son.
Does it make a difference whether we witness to others whether they're saved if they will be saved or lost regardless depending upon God foreknowledge of them? Proverbs 11:30 . . . he that winneth souls is wise. As with the women in scripture below, they were fellow laborers with Christ also.
Below you will find that He knows who belong to Him, He writes those names in His book of life, He changes us unto the likeness of His Son, and He calls us, justifies us, and glorifies us. How does He see us as glorified? He sees only Jesus in us; we have already been judged as righteous in Christ.
2 Timothy 2:19 Nevertheless the foundation of God standeth sure, having this seal, The Lord knoweth them that are his. . .
Philippians 4:3 . . . help those women which laboured with me in the gospel, with Clement also, and with other my fellowlabourers, whose names are in the book of life.
Romans 8:29 For whom he did foreknow, he also did predestinate to be conformed to the image of his Son, that he might be the firstborn among many brethren.
Romans 8:30 Moreover whom he did predestinate, them he also called: and whom he called, them he also justified: and whom he justified, them he also glorified.
God bless you brother in Jesus' name.