After re-analysing his character, I'd say no when it comes to the main talking points such as wanting to fight the Artificial Humans rather than targeting a defenceless Gero or giving Cell a senzu, all which are within his character when analysing the context. Him dropping the ball by not killing Boo when he could is also fine when considering his assurance fusion would be able to stop him as well as him making sure Boo was the type to keep his word, plus it's arguable whether or not Goku found out too late that he could indeed kill Boo if he wanted.
The only major instance where I'd say Goku's character was badly handled was his rationale for staying dead at the end of the Cell Arc, considering the idea that he attracts bad guys is purely built on cause and effect with those who did come seeking vengeance against him being ones who would have continued their goals regardless of his involvement, the only one who it was his fault that they brought the Earth into danger directly being Mecha Freeza, and at that point there was no conceivable threat from his past that would bring danger to the world. Even here though, you can argue this flawed reasoning still has some rationale in him acknowledging several situations went from bad to worse by his involvement, such as Daimao being a greater threat than Pilaf, the Saiyans coming to Earth because of him regardless of it being their fault he was sent there and Cell being a far greater threat than the Red Ribbon Army.
This is, of course, purely speaking about the original manga, since saying GT and Super Galu suffered in characterisation is like saying the sky is blue.