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I don't know, no explanation was given other than that Goku fought with the intention of enjoying the fights, surpassing himself, protecting his friends, etc. unlike Vegeta who wanted to show who was better along with his sadistic actions towards his opponents and some other things that I don't remember, he explains it when he accepts that Goku is number 1 in the Buu sagaGoku purifies his intentions with martial arts, hence why he can kill without consequences unlike Vegeta as he isn't killing pure intentions like survival or self defense or to protect others