I spend a lot of time dicking with embedded C code. I think using goto is reasonable some cases. The classic case is to short circuit a block of code when there is an error of some sort.

   function(){
   
   // early returns here.

   // stuff
   // more stuff

   if(oops_err){
     goto some_error;
   }

   // yet more stuff

   // normal exit
   return 0;
   
   // bad exit
   some_error:

   // clean up

   return oops_err;
   }

The above is fine, you avoid a convoluted execution path. Or cleanup and a return in the middle of a function. Looking at the top of the function you see early returns. Looking at the end you see the normal and error exits.