Goku's not a great father. I will say that much of it isn't his fault, but at best he's an absentee father. Great fighter, Great hero, not a great father. He's akin to a father who works all the time and never has time with his kids. Even when he is with his kids it's always about work.
I always like the scrubs line "even the best part-time father, is still only part-time."