I agree with you; and I keep a printed copy of the MISRA C document on my nightstand for serene reading before sleep (together with the JPL C rules). Yet this point 15.1 does not forbid at all to use goto, just to use goto in an unconstrained way. Thus it is more a warning than a rule.

In the same spirit, you can also enjoy Knuth's "structured programming with goto statements" for a clean programming style whose control flow is based on goto.