With RCU the "we don't need this Goat" occurs as soon as the last readers are done with the earlier version of Goat, modulo a limited grace period in some RCU implementations. New readers always get the latest version, so there is no risk of waiting for an "unspecified" or "arbitrary" amount of time.
Hazard pointers are a bit fiddlier AIUI, since the reclamation step must be triggered explicitly and verify that no hazard pointers exist to the object being reclaimed, so it is quite possible that you won't promptly reclaim the object.
From the point of view of any particular updater, the death of every current reader (who would keep the Goat alive) is arbitrary. Obviously in a real system it won't literally be unbounded, but I don't think it will usually make sense to work out how long that could take - in terms of clock cycles, or wall clock time, or any external metric - it won't necessarily be immediate but it will happen "eventually" and so just write software accordingly.
Maybe I'm wrong for some reason and there is a practical limit in play for RCU but not Hazard Pointers, I don't think so though.
One of the central purposes of RCU is to decouple the updater/writer(s) from the reader(s). It doesn't matter to the writer if there is still a reader "out there" using the old version. And it likewise doesn't matter to (most) readers that the version they have is now old.
What is delayed is the actual destruction/deallocation of the RCU-managed objects. Nobody cares about that delay unless the objects control limited resources (in which case, RCU is likely a bad fit) or there are so many objects and/or they are so large that the delay in deallocating them could cause memory pressure of some type.
Sure, that's exactly my understanding.