google's ai brought this up when i searched about this:
"Yes, Vegeta has called Goku "Goku" multiple times, particularly in the anime and dubs. While he primarily uses "Kakarot," he has used Goku's Earth name in situations like during the Saiyan and Namek sagas, in Dragon Ball Super when he calls him a fool during the Universe 6 tournament, and even once in Dragon Ball GT."