Bardock wished for Goku to live into adulthood with the Dragon Balls.

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uwnim posted...
RRA totally would have killed him.

@uwnim No, because Bardock's wish with the Cerealian Dragon Balls was protecting him.
https://gamefaqs.gamespot.com/a/forum/6/6b94d8a4.jpg
So even if he takes on the RRA, he won't die as long as he's a kid. Stop trying to overwrite the manga with head canon

So this clearly results in

Pilaf taking Goku on his quest for the balls like Bulma did and becoming his friend, yes. Along the way, Goku meets Roshi and becomes his disciple as in the series.
Fammy fam