I've been tagged in this because I was on #Newsnight on the same panel, but I wasn't asked to respond to this claim about Dominic Raab. So I thought it might be helpful to share the actual clip from the Panorama documentary referenced, showing Barnier talking about Raab.

Another great Raab clip, this one from 2016. It appears he and and other senior Brexiters took us out of the customs union without understanding any of the ramifications of that - or even seemingly what the customs union is.