Goku will likely never beat characters he has already lost to and has not surpassed in power since those initial encounters, such as Raditz and Frost.
While Goku has achieved incredible power levels throughout the Dragon Ball series, some opponents have slipped through the cracks, remaining undefeated by the Saiyan warrior. It's important to note the specific context of "never beat" – implying characters he fought and, for whatever reason, never actually achieved victory over.
Here's a breakdown:
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Raditz: Goku died while helping to defeat Raditz, but he did not beat him in a one-on-one fight. Raditz was ultimately defeated by Piccolo's Special Beam Cannon. Given Raditz's relatively low power level compared to Goku's current strength, a rematch could theoretically result in Goku's victory. However, Raditz is long dead and unlikely to return to prominence, meaning Goku will probably never get the chance to beat him.
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Frost: While Goku initially seemed to overpower Frost in the Tournament of Destroyers, Frost cheated by using poison needles. Even after Frost's cheating was revealed, Goku was removed from the tournament due to his prior fight with Hit. Thus, Goku never legitimately defeated Frost. Since Frost isn't a major antagonist, a decisive rematch feels unlikely.
It's also worth noting that many powerful beings exist in the Dragon Ball multiverse that Goku has never fought, and could potentially never beat. However, the original question implies opponents he has encountered.
In conclusion, characters like Raditz and Frost, due to specific circumstances, are examples of characters Goku has never beaten and, due to plot reasons, probably never will.
