Vegeta tricked him into thinking they had a truce and distracted Goku by requesting a senzu bean. As Goku reached for it, Vegeta dealt a blow to his back, knocking Goku out. Therefore, technically Vegeta has beaten Goku twice but Goku has never beaten Vegeta.
As Dragon Ball's main character, it's only natural Goku be stronger than his rivals, but Vegeta actually has surpassed him on occasion. As of the Moro arc, Vegeta's never been closer in power to Goku– but that's ancient history now that Goku has what seems to be full access to Ultra Instinct.
Originally Answered: Who is the man that Goku may never beat? Beerus, Vegeta, Jiren, Cell. These are individuals he hasn't beaten in a one on one fight. He either defeated them with help, a stalemate or he lost.
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