The Prime Minister said: "As we developed our policy on Brexit I have allowed Cabinet colleagues to express their individual views".
The Prime Minister managed to secure the backing of senior ministers, including the staunch Brexiteers, following an emergency meeting at her Chequers home.
Theresa May defended the Brexit deal struck at Chequers as Downing Street stepped up efforts to win Tory Eurosceptic support for the plan that will keep the United Kingdom closely tied to Brussels.
The "common rulebook" for goods could reduce the UK's flexibility to strike trade deals with other countries, particularly the U.S. which would want an agreement allowing its farm products, produced to different standards, into the British market.
But it is understood that all members of the Cabinet have signed up to the proposals.
"But this is good, we have come today, following our detailed discussions, to a positive future for the UK".
"But of course we still have work to do with the European Union in ensuring that we get to that end point in October".
"This will deliver security and prosperity for our people".
After months of planning and quarrels, May has called the Cabinet to a meeting to agree on a proposal on how future relations should work.
"This maintains high standards in these areas, but we will also ensure that no new changes in the future take place without the approval of our parliament", she said.
Irish national broadcaster RTÉ reported that the taoiseach made it clear that the Irish government was open to proposals that meet its aim of avoiding a hard border and maintaining free trade with the United Kingdom, while respecting the EU single market and customs union.
The new deal would mean that the country would leave the bloc on March 29th 2019, there would be an end of free movement and a new business friendly customs model with the freedom to strike new deals around the world.
That view has been echoed by big manufacturers, including Airbus and Jaguar Land Rover, who warn they could abandon Britain if the European Union and the United Kingdom cannot strike a strong free trade deal. "This is simply saying that we will effectively sell the same products across Europe as we do now - it's what business does and would do anyway, nobody produces a different product for one country".
The UK would also have to pay "due regard" to European Court of Justice rulings relating to the rules Britain will share with Brussels, potentially softening Mrs May's red line on the jurisdiction of judges in Luxembourg.
This framework would also include robust and appropriate means for the resolution of disputes, including through a Joint Committee and in many areas through binding independent arbitration - accommodating through a joint reference procedure the role of the Court of Justice of the European Union (CJEU) as the interpreter of EU rules, but founded on the principle that the court of one party can not resolve disputes between the two.
Speaking in Brussels, Mr Barnier said: "Let me be clear - we are not asking for any border between Northern Ireland and any other part of the UK".
Full details will be published in a white paper on Thursday, with Brussels expecting a round of negotiations in the week commencing July 16.
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