For instance, I am a Caucasian Canadian living in the world as it is in the 20th and 21st centuries. I may act in any way I wish to events and circumstances in my life. I can try to live a life that helps to make the world a wee bit better place for my having been here, or I can ride rough shod over anyone in my way in order to get whatever I desire. I will also reap the rewards or punishments for the life I choose to live.
However, even if I wished it with all my heart, I can not become an Australian aboriginal, or a native of India, or change the birth circumstances I have chosen. I may well have chosen or will choose a different life map in another lifetime, but not in this one. I have already made those choices.
So, yes I do believe in destiny and I believe in free will. I also believe that "truth" evolves for each person. Our truth is the only true at a given point in our Journey. As we evolve in our spiritual understanding our truth changes with it. Growth requires struggle of a sort. We need to make an effort to rise above the easy path. The free will we have allows us to choose the easy way, the baser instincts, or to take the high road. There is nothing to force us to grow in any given lifetime. The choice is always ours.