On one hand, the point of Goku is that he isn't a good person, he's more like a force of nature. A lot of things he does isn't good by normal measures.
On the other hand, he's a messiah figure. He is the savior of earth, a god, and his actions have worked out so far. If it's bad but Goku does it and nobody can change his mind, then it's good.
The moment Cell said Goku will "regret the gesture", I realise it was f***d up. Still, I don't think it is wrong.
Goku doesnt really care about others, except maybe his family (questionable). He just wants to fight strong people. Hes got a moral compass, sure, but hes also too stupid to realize when hes compromising those morals for selfish gain.
I think it's the brain damage from when Grandpa Gohan dropped him on his head as a baby.
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If he didn't, Gohan would have never reached SSJ2 and the world would be fucked. Goku new this, and that's why he gave Cell a senzu.
