Watch the video and stop flapping your gums, it was said countless times by countless politicians. It's not ambiguous it's just factual.
How remainers missed this is astonishing, what were they watching on telly whilst this was going on?
I think you miss the point. Remainers knew it meant leaving the single market. Leave threw in the amiguituies and the false assurances about a deal that would keep us in a free trade zone ("The idea that Britain will be the only country in Europe not to be part of this zone is silly") and, having won the vote, many of them did their best to promote "No Deal". Had Leave said, "It's possible that we may end up with no deal" rather than say that would be silly, how might the vote have gone?