See, I never bought that. Sure, Goku's not a traditional, Western idea of a great dad, but it's not like he openly neglects or outright hates his family. I think the problem is that we try to look at Goku through a normal lens, when Goku himself is anything but normal.
Let's consider Goku's life. He spent his early years training with his Grandfather out in the middle of nowhere, which is the time that he bonded with his grandfather. Similarly, that's how he made friends with Roshi and Krillin. So for Goku, training is a way of bonding, and that's why he wants to train with Gohan as often as he does, because it's the only way he knows how to connect with his son. Secondly, Goku spends almost his entire life traveling the world, going on adventures, fighting monsters, learning martial arts, and getting involved in tournaments. Does this seem like a man who had time to go to school, or learn social niceties, or even understand what romance or courtship is? He just tries his best to do well by the family he has.
Now, something a lot of people say is that Goku doesn't love his family. Horseshit. If Goku didn't love his family, why would he have stuck around them? Why would he have felt obligated to stay with Chi-Chi for so long? Food? Judging from all the times Goku jumps into lakes and pulls out giant fish, the man can take care of himself. Goku's not cold or callous or completely emotionless. He loves his family. Yeah, sure, most of the examples of Goku loving Chi-Chi or Gohan are in the anime, but fuck it, if it doesn't contradict what happens in the manga, the anime counts. I think the most telling fact of how Goku loves his family is the fact that he let Gohan go to school. Think about it, if Goku really wanted Gohan to just stay home and train with him all the time, how in the world could Chi-Chi stop him? But Goku knows that he doesn't really know what he's doing with children, at least not as well as Chi-Chi seems to. And if Chi-Chi decides School is what's best? Then School is what's best. Sure, he wanted Gohan to stop his studies for three years so he could train with him and Piccolo, buuut there were future-Robots coming to kill them all, so I think that took precedent.
tl;dr, I never saw any real evidence for Goku being a terrible father when I watched the show.