I would have predicted the exo product merely on energy terms but what do I know
Endo products result from Diels-Alder reactions. You can think about it like this: A Diels-Alder reaction occurs between a diene and a dienophile (diene-lover). So the diene and dienophile are naturally attracted to each other, and prefer to be on top of each other so that there is a greater degree of orbital overlap. Here's a picture I swiped out of
Organic Chemistry 7th ED by John McMurry. Notice the diene and dieneophile are directly on top of each other

hey