The point of negotiations is to find a middle ground between two groups who don't inherently agree.
it is likely that Trump will not get most of what he wants. He is an idiot and doesn't have any clue what a real outcome to this should look like. Of course, that's why he started it in the first place, because he's so stupid he was blind to all the ways this would almost inevitably go wrong.
I don't think Iran wants the long term responsibility for the Strait of Hormuz. I do think they want nuclear weapons, but I think they can be incentivized to at least significantly delay those ambitions. (They agreed to do so before via the JCPOA, yes?)
We can likely get back to those two basic positions, but it's going to cost us a lot because Trump acted a fool and started a war he couldn't win. So, we're likely going to pay out of the ass if we can find a way back to opening the Strait and curtailing Iran's nuclear desires.
We don't have to "agree to their terms" wholesale, but we do need to negotiation with (A) a recognition that they have us over a barrel in the short term and (B) a recognition that we pretty much are the ones responsible for the war. We have room to negotiate, but we're in a piss poor spot and there is little that can be done about it.
I get that you have a knee-jerk reaction to the US taking a loss on this, but there's really no way forward to a true win. The best we can likely do at this point is getting back to some sort of previous detente, recognizing we're going to pay significantly for having been the one to fuck it up initially.