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Hi,

I have an impression that the phrase will make us regret later on in the end of the following sentence does not fit here. Can you pelase give me your comments. Thank you.

Actually, the whole sentence is clumsy. Should I , instead of saying ''will help us not to..'' try with prevent?

Proper earlier/preliminary preparation and the exact knowledge of the minimal goals to be achieved by negotiation, or the awareness of the best alternative to negotiated deal (abbreviated NAPS) or in English BATNA, will help us not to, due to the possible great pressures, end negotiations in a way and with results that will make us regret later on.
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Proper preparation, along with exact knowledge of the minimal goals to be achieved or awareness of the best alternative to a negotiated deal (abbreviated NAPS-- or in English, BATNA), will help us avoid ending negotiations, due to the possible great pressures, in a way and with results that will make us regret it later on.

Preparation is by nature preliminary.
Try to minimize use of the word negotiation/s at all costs-- it is terribly overused in a work on negotiation. Do not fear that your reader will forget the topic!
I have rearranged your parentheses-- the original seemed unintelligible.
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Thanks Mr Micawber.