I personally don't believe that we always do what we're meant to do. I once heard someone in the Psychosynthesis movement say that we can either cooperate with the process or not. It's also worth noting that Jesus is quoted as saying that you won't be forgiven the sin against the Holy Spirit, which I think is relevant to your question, i.e not doing what you are meant to do. If Kingsley is right, he must be speaking from a deeper level of understanding.

The 'fall' or 'original sin' does seem to be a specifically Judaeo-Christian idea. I'm not aware of this in other major traditions. In particular the outbreathing and inbreathing of Brahman in Hinduism does seem to fit neatly with Kingsley/Empedocles, although I'm not sure whether the Hindus say that every detail is preordained.