This fight would be better with Piccolo and Gohan but with just Vegeta and Goatku they are sweeping everyone but reality warpers.
I'll only use Z feats because Super is trash.
I see no one has brought up that Goku is a capable telepath: read Krillin's mind on Namek, communicates with Gohan telepathically to deflect the spirit bomb against Vegeta. Interrupts a conversation between King Kai and the eldest Guru on Namek.
I would prefer Piccolo in this fight because he was communicating with Goten and Trunks in the hyperbolic time chamber, being outside of it, which are two different dimensions.
That said, top 10 telepath Nate Grey couldn't beat Norman Osborne. Why? Because telepathy strikes the will of opponents. Since I've read thousands of comics there have been plenty of battles that have been lost due to this very same thing.
Vegeta already proved his stuff against Babidi's magic and you know these two saiyans have the most willpower out there.
Goatku has been doing image training since he was a kid. Not to mention communicating with life forms to assemble the spirit bomb requires mental projection and fortitude. They're not losing to telepaths. To be a martial artist in DBZ everything has to be top tier, the mental doesn't get neglected.