The easiest form of Brexit - would have been the Hardest kind, as far as the EU are concerned, but the Softest kind - based on what EU citizens here in Britain and UK citizens in terms of Taxation and Public Services wanted.
Freedom of Movement, EU Citizens Rights in Britain, and the acceptance of Euro currency as legal tender about the UK alongside our own Sterling Currency - are already in PLACE - and are not going anywhere anytime soon.
Paying contrbutions to be in what was once a “Trading Club” - leaves a lot to be desired though. The EU could have brought down these costs, and made it cheaper for the UK to “stick with it” - but their own spending has got way out of hand, and they are as addicted to the high amounts of cash we’ve been giving them over 40 years - that they cannot possibly countenence reducing that cash take any more than a Crack Addict can give up Smoking, drinking, and all kinds of “poisoning oneself” alongside the more usual “methodone halfway house” method of beating drug addiction.
Thing is, the “Stripping a plaster off” analogy - was always likely to be the one way that WOULD have worked.
Citizens - were not going to be moved on. It is easier to “Leave things are they are”.
Goods and Services - are still freely moving about, as there is no desire by either side to change THAT particular system.
Foreign Nationals both coming here as Tourists and or to stay on and work - needed only the tweaking that “They won’t be able to get benefits whilst here”. How hard would THAT have been to put in place?
Payments towards the EU budget - could have been cut off, but it would need the cooperation of senior civil servants with their hands on the financial levers - to carry this out. THAT could have been done by “government edict” - but to my knowledge, has yet to even be considered as a way foward to achieving Brexit.
Thus, three years on we have a Brexit that is 0% done still, the upsides 0% achieved, but the downsides of “investment dropping” and “quality staff starting to go home” weakening our economy by this point.
Even worse, will be next year when the Lisbon Treaty fully kicks in, obliging Britain to be a rule taker - without further use of proverbial vaseline as it were. 
The difference between the UK and Greece - is that we still have our own currency.
Hungary - has it’s own currency, but still gets a net EU subsidy. There’s only so much that Viktor Orban can do all the while his domestic budget is in need of such cash.
Switzerland - also has it’s own currency, - but it isn’t in the EU. They seem to be having the worse of what “Soft Membership” has to offer, in that they are obliged to take on “flotsam” immigrants for reasons that I can’t understand how a non-EU member - ever got saddled with in the first place!
The BEST solutions to any crisis - are the SIMPLE solutions. There was never any need to make Brexit so complicated as it has become, but our polticians have chosen to make it so, perhaps to protect their own positions first and foremost, like the proverbial depot on the verge of bankruptcy that has twice as many managers as it has shop floor workers and drivers combined.
The NHS - also has this latter problem as well, where the “Non-Medical Staff Budget” is WAY above the actual medical staff payroll expense. And yet as the NHS becomes more inefficient, losing ever more percentage of the cash that gets pumped into it - we see Doctors and Nurses being laid off, re-employed on Zero hours contracts, not given weekend contracts, over-worked in various hot-spots, and even given far too few quality hospitals as their workplaces. Add another few managers each year, some of which are even “Hatchet” people, come to decide what “Fat” they can cut off - never EVER picking their own useless number for the chop, of course!
Brexit is complete - when the cashflow stops as far as the “Politican Declaration” is concerned.
All the other stuff - can be negotiated from OUTSIDE of the EU, as if we were say, Brazil negotiating trade deals, border treaties, movement of citizens on preferred passports, etc.
“Open Borders to ALL” including non-EU citizens - is the unintended consequence of having lax borders, with too many border personnel laid off.
Result? - Everyone and his dog takes advantage, comes here when they are not even EU citizens, gets the right to work via a quickly-given NH number, and then gets onto the benefit system.
“Open Borders” - wasn’t MANAGED properly then. We don’t need walls and new laws - we just need staff to enforce the CURRENT laws - harshly, if need be.
Sajid Javid - in that regard - seems to be getting on and doing the right thing now. It may be too-little, too-late for the Tories though, as surely the Tories are going to get killed at the polls like they did in 1997 the way things are going now? I can’t see an election happening before 2022 even if it is even money at the bookies as I speak for an election THIS year.