MISRA doesn't ban it, that rule is only Advisory which pretty much means you can ignore it. Rules 15.2 and 15.3 (Required) define how you can use goto if you decide to use it.

Rule 15.2 The goto statement shall jump to a label declared later in the same function (forward gotos only)

Rule 15.3 Any label referenced by a goto statement shall be declared in the same block, or in any block enclosing the goto statement (can't jump a scope level lower than current [jumping in an if block from outside] or from 2 identical but separate scopes [from one if to another independent if])

Personally, I like the Linux kernel model for goto which fits these constraints. Reading code like a shopping list and jumping to the proper cleanup point is much easier to read than having 3-4 if else levels and having to scroll the screen to make sure resources are cleaned at all levels, etc. Nothing beats making the mental model of code smaller to keep in my head and readability in my book so I'll take that approach over applying holy war-ladden absolute rules.

Note that using gotos also jives well with Rule 15.5 requiring a single exit point in functions (Advisory).

Edit: as panax wrote somewhere in this thread, CERT-C rules even recommend it