Goku is not asexual and here is why:
This post is going to prove why Goku is not asexual, and DOES get laid (with his waifu).
He is probably just trolling everyone when he acts like he doesn't know (in the same way he just transforms into SSJ4 or SSJ3 while trolling everyone who does not know yet.)
Is Goku aromantic? Maybe.
Is Goku asexual? Definitely not.
Goku getting to know Trunks is a result of a sexual story between Vegeta and Bulma. Goku is shocked by the fact that Bulma might have opened her legs to Vegeta, and he makes it clear in every possible way lol
2. Goku and Chi-Chi with blatant sexual tension shortly after he recovers. It's evident that Goku and Chi-Chi are implying a sexual promise here - after Gohan's training...
3. ....aaand Goku leaving Gohan "playing with Dende" to get laid for a few days with his waifu. Honestly, this ties back to the promise made earlier, where it's clear that Goku wants to spend quality time with Chi-Chi - without his son - before probably dying.
4. Goku asking Crillin how the F did he conceived with an Android. The fact that Goku is so shocked and honest about it instantly shows how he's thinking STRAIGHT up about the sexual side of things. Not like "how did you guys fall in love?" or "How did she become so nice?". No, it's the "how the hell did you guys procreated?". I mean, literally only a (naive) perv would ask a question like that.
5. Goku offering naked pictures of Bulma to old Kai. What we have to say here? Goku pimping Bulma in front of Vegeta. Trolling and winning.
6. Goku straight noticing Bulma's boobs when he teleports. This scene is one of the most blatant. When he looks at his old friend Bulma half-naked, the first thing he looks at is her boobs.
7. Goku and Jaco talking about Bulma's (saggy) boobs. I so love the fact that right after Jaco's gone - Goku directly asks to Bulma if the rumor is true.
8. Goku realizing Beerus is getting aroused by Cheelai. I actually love this scene - not only because Beerus has a type, but also because both Vegeta and Goku AT THE SAME TIME are shocked because of Beerus sexual arousal. Epic and hilarious.
9. Goku trolling everyone not knowing what a kiss is. I know this is maybe an incorrect translation from the original, but even if it was real, it would be such a troll move from Goku. I mean look at his look when he sees Mai and Trunks:
10. Goku patting everyone genitals because he wanted to discover the world (and didn't have proper manners). In OG dragon ball Goku basically patted everyone's genitals without any consideration. Which means he was basically discovering his and the opposite sex as a kid, as a normal functioning sexual being.
So yeah guys Goku is not asexual, stop playing on him βbout that.