I hesitate to use org-goto in my Org mode files because I find the UI for it to be confusing. In a recent post, Streamlining Navigation in Org-Mode using an adapted org-goto, James Dyer makes some nifty improvements. The TL;DR is this:

(setq org-goto-interface 'outline-path-completionp)
(setq org-outline-path-complete-in-steps nil)

Now, the target list is a simple completion window showing the entire outline.