i still tend to think goku is ESFP.
reasons: he's not particularly dreamy, he's not moody enough to be ENFP, he's too happy-go-lucky.
the idealism thing: is he not just acting on his kind heart? esfps are meant to be the kindest type, second only to ISFP. he doesn't really seem to put much thought behind it. so i don't think it's an ideal of his, he's just a very gentle and forgiving person. esfps love to make friends with anyone. isn't goku very "can't we just get along and have fun"?
you could be right about the others.