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Not exactly.Evil Vegeta said:There's a difference between actively sensing someone and their attention being grabbed by a huge power. When Boo leaves the rosat, his presence quickly got Goku's attention. This was pretty similar to everyone sensing the change to Super Boo on the Kaioshin realm, as well as Goku's Super Saiyan 3 transformation. Goku couldn't sense Base Gohan on Earth, so Otherworld was most likely a lot closer to the Kaisohin realm than the Earth was.
Goku was watching the fight and wasn't sensing him when Boo escape from Rosat.