I think that we are going through the 'sore' period after a dispute, which will take a little time to pass. Gradually the protagonists on both sides (both in the UK and in the EU) will move on, and gradually the two parties will get closer again. I do not think that there has ever been any agenda to move the UK away on xenophobic grounds (that has just been a label applied to try and discredit) - I believe the underlying agenda has been to reset the relationship and particularly the strings attached to the Single Market. Negotiation was attempted but, with the 'european project' goals and majority voting systems in place this was simply not going to run. It was either 'put up' or leave, so if one didn't want to 'put up' then the only other option was leave and possibly the opportunity to reset the strings later. This will take co-operation and understanding on both sides, and I predict that will happen in the future, on a gradual basis, to the mutual satisfaction of both sides. But it'll take a while.
Quite. I think it unlikely that there will be any negotiations, painful or otherwise, any time soon. Just a closer relationship. And that, I believe, was the real agenda of the Brexiteers all along - it was not some kind of xenophobia - it was the belief that the UK was too entangled in the strings of the Single Market and there was no way of negotiating / influencing any meaningful changes, or preventing further entanglement. So it had to be Brexit with the possibility of a reset later.