I don't believe in the penal substitutionary atonement theory - but am in agreement with the Francisan's understanding of the incarnation, crucifixion, and resurrection. It's probably a mystery so deep that we can always continue to learn and understand more. So I don't misrepresent the doctrine, I'll share a quote:
Quoting from this link:
John Duns Scotus: His View of Christ
A key point of the Franciscan/Scotistic view, which catches many people by surprise, is this: The Word of God did not become a creature, a human being, because Adam and Eve sinned. Rather, the Divine Word became flesh because, from all eternity, God wanted Jesus Christ to be creation’s most perfect work. Christ was to be the model and crown of creation and of humanity — the glorious destination toward which all creation is straining.
In short, the Word would have been incarnated in Christ even if the first man and woman had never sinned.
NOT AN AFTERTHOUGHT OF GOD
According to Scotus, God’s first intention — from all eternity — was that human nature be glorified by being united to the divine Word. And this was to happen regardless of the first humans’ innocence or sinfulness. To say that the Incarnation of Christ was an afterthought of God, dependent on Adam and Eve’s fall, would be to base the rich Christian theology of Incarnation on sin! Theologians could do better than that — and Duns Scotus did.
Given humanity’s sin, the way Christ eventually came was in the form of a savior whose great act of love and self-surrender set us free.
In Scotus’ view, however, the God-man would have entered creation and human history as the perfect model of the human being fully alive under any circumstance. It was not Adam who provided the blueprint or pattern that God used in shaping the humanity of Christ.
It was the other way around, insists Scotus: Christ was the model in God’s mind according to which Adam and Eve, as well as the rest of the human race, were created. We can rightly say, therefore, that the Incarnation was not simply some kind of “Plan B arrangement,” or “last-minute cure,” to offset the sin of Adam and Eve. On the contrary, it was God’s “Plan A” from the beginning.
Scotus’ viewpoint has gained prominence in recent times. It has been adopted by such notable Catholic thinkers as Gerard Manley Hopkins, the Jesuit poet; Thomas Merton, the Trappist writer; and Teilhard de Chardin, the Jesuit-priest-anthropologist. “Christ is not an afterthought in the divine place,” writes Chardin. “He is the Alpha and the Omega, the beginning and the end of all things.”