I think that the real issue here is that there doesn't appear to be a majority in Parliament for anything (witness the indicative votes earlier this year, which found no majority for any form of deal).
I think that the reason many MP's are unwilling to let the UK leave without a deal are as follows:
1) It doesn't solve anything. You still need to agree what to do for a future relationship, from a much, much weaker position (only Council of Ministers agreeement for Article 50 deal, versus Council, EU Parliament and all national regional parliaments required for a future trade deal).
2) The EU will not allow any trade deals to happen unless the Irish border, the rights of EU citizens and the money issues are resolved.
3) The UK imports the majority of their food, and WTO tariffs are really high on food, leading to potential problems with food supply (remember that it's November, when not much grows in the UK).
Like, I don't doubt that some MP's want to remain in the EU, but for my money most of them have voted for some form of Brexit deal, with the exception of the rabidly fanatical members of the European Research Group.
Additionally, with respect to the terms offered by the EU: Yes, they will be worse than staying in the EU. By definition, if you leave a club, you no longer have access to the facilities of the club. It would make zero sense for the EU to do a deal for the UK that was better or the same as membership, because no-one would remain in the EU then.
I think that the citizens of the UK have been let down by many of their political representatives, but i don't believe that their desire to remain in the EU is the cause.