Hmmm don't you? No, I don't think Goku would understand on the same level as Hakkai, he's just not someone who thinks so explicitly... But on a deeper level? Goku might not have a family of his own, but if anyone understands the concept of lonelyness, it's Goku... And what with Sanzo leaving them, I think he's got a pretty good idea...
I also think that out of the three of them, Goku has the best people instincts. I think Gojyo and could work out very well. Mind you, I think *Hakkai* and Gojyo could work out very well as well, but in a totally different way...