Cameron got 3 of his 4 demands, the EU couldn't budge on FOM, as its part of the eu's 4 freedoms.
We left the EU, May had her Red Lines - No to SM and No to CU Brexit means Brexit!!!
Johnson carried on her deal, re badging it his own.
UK then lost access to pretty much all its benefits, why people think the EU should have carried on allowing us to still have these benefits is beyond me, then again, the British seem to wallow in Exceptionalism.
EFTA was never an option, no one (with any power) suggested it and Norway said they did not want the UK in EFTA as our economy is too big.
Also, EFTA has FOM, so was completely unacceptable to anyone on Govt.
Johnson could of course had negotiated a closer relationship, he chose not and went for the hardest of Withdrawal Agreements, he even took us out of EHIC, Eurotom, Erasmus & Europol, infact anything with Europe in the title.