Scattering-assisted synthesis of broadband optical pulses is recognized to have a cross-disciplinary fundamental and application importance. Achieving full-waveform synthesis generally requires means for assessing the instantaneous electric field, i.e. the absolute electromagnetic phase. These are generally not accessible to established methodologies for scattering-assisted pulse envelope and phase shaping. The lack of field sensitivity also results in complex indirect approaches to evaluate the scattering space-time properties. The terahertz frequency domain potentially offers some distinctive new possibilities thanks to the availability of methods to perform absolute measurements of the scattered electric field, as opposed to optical intensity-based diagnostics. An interesting conceptual question is whether this additional degree of freedom can lead to different types of methodologies towards wave shaping and to a direct field-waveform control. In this work, we theoretically investigate a deterministic scheme to achieve broadband, spatiotemporal waveform control of terahertz fields mediated by a scattering medium. The direct field access via Time-Domain Spectroscopy enables a process in which the field and scattering matrix of the medium are assessed with minimal experimental efforts. Then, the illumination conditions for an arbitrary targeted output field waveform are deterministically determined. In addition, the complete field knowledge enables reconstructing field distributions with complex phase profiles, as in the case of phase-only masks and optical vortices, a significantly challenging task for traditional implementations at optical frequencies based on intensity measurements aided with interferometric techniques.