I think he was a well-written character, the game itself acknowledges that he ended up being the victim of Shido's plans in the end. I find this interesting because, after that, Atlus ignores his arc and his connection to Yaldabaoth. Not even in the final boss does he even get a naming from anyone, considering he was a victim of Yalabaoth's plan and ended up dead because of it, I would at least want one of the PTs to say how He's gone because of him.
Anyways I miss Goro and I hope P5R gives him the closure he deserves ????