I disagree with all of this. Go's package management system is a breath of fresh air compared to all other languages. Nobody ever has any problem grabbing dependencies. There is only one way to do it and it's built into the language runtime; if you have Go installed you can install the modules. Other applications on your system can, with no effort (virtualenv, etc.) use different versions of those modules. Dependency installation can't print messages to my terminal.
It's a joy.
Importing modules from a particular URL is a great way to handle them. No central server required! Everyone can name their module "utility utils" or whatever. And, nobody is forcing you to use Github to host your modules, you can put them on any web server you control and import them as example.com/your-thing. Decentralized. Easy to use.
If I had two complaints, they would be:
1) Library authors that think "replace" directives propagate up to consumers. They do not. They are ignored when you depend on the module. If you depend on one of these libraries and want the workaround that the author has smoothed over with a "replace" directive, you have to copy that directive to your own go.mod.
2) Library authors that distribute one go module for their super-complicated server and their super-simple client. This results in unnecessary dependency explosion. (Loki 1.x was an example of this pattern. Their server depends on things like Kubernetes, where their client only depends on net/http. But if you naively import their client, suddenly your project depends on Kubernetes.)
(2a would be no concept of test-only modules. Some modules are only needed for the tests; it would be nice to not propagate these up to consumers. It isn't an actual problem, though, just a "would be kind of nice" or "I could see why they did that" if it existed.)
Neither of these are Go issues, just maintainer issues that can happen with any language.