But in the Penrose argument, we can start from a true system and use reflection to arrive at another true statement which is not deducible from the original system.
This is important to the argument as one starts with a proposed program which can perform mathematical reasoning correctly and is not just a random generator. Then, the inability to see the new statement is a genuine limitation.
How is it something that a computer cannot do? It seems to be just convincing yourself.
Gödel's theorum itself does not help you here because you are trying to identify a undecidable but true. Gödel only showed that there are undecidable true statements, not what they are.
https://news.ycombinator.com/item?id=43257904
This construction is something that a computer can do, but not the original system itself. Once you augment the system, there is now a new statement it cant see and so on. (so on, here involves ordinals).
Many an obvious truth turns out to be mendacious. See various counter examples in analysis.