If you are the only melee in the party (in a dungeon, doing AoE pulls), you have Goad for the tank.

If there are two melees in the party, they Goad each other.

Period. There is no real justification to not have Goad in dungeon parties. Invigorate is not enough to keep AoE sustainable with chained pulls.

Dungeon-efficient groups will always need Goad. If you and your group decide to take things easy and single target every mob down, then it is not required. But at that point you're also certainly not very efficient in clearing the dungeon.

It sucks the OP was kicked at the last boss. I think that was rude of the warrior. But it is a difference in playstyles, and you can be kicked from a party for not doing your share if the rest of the group wants to progress as efficiently as they can.