Yes, Goku has been hit before in the manga and anime series "Dragon Ball Super" when he is in his "Ultra Instinct" form.
Thus, it is safe to say that Limit-breaker Saitama cannot beat Goku in his Ultra Instinct form. It is far too powerful a transformation to contend with. Even if Bald Cape lands his Zero Punch, Goku has been seen multiple times being more than capable of taking a hit.
Yes, we've seen three individuals make solid contact against him (not just a blocked hit).
Deus ex machina is the most powerful character in Future Diary. He is known as the ruler of Time and Space. His control over these domains allows him to create the Future Diaries. Due to his ability to warp reality, he can defeat Ultra Instinct Goku as easily as Featherine.
The in-story reason for this is provided in the Dragon Ball Super manga series. Speaking with Vegeta, Goku reveals that ever since the Tournament of Power ended, he's been unable to repeat his Ultra Instinct transformation, implying that the power can only be used in the direst of situations.
This philosophy, combined with his pride in his Saiyan heritage, has made Vegeta committed to focusing on the Super Saiyan path, whereas Ultra Instinct isn't connected to their race. This sort of devotion is what inspired him to access Super Saiyan Blue Evolved for the first time during the big fight with Top.
1 Winner: Goku
Ultra Instinct Goku is faster, stronger, and more agile compared to his opponent and on top of that, there is a significant difference in their respective power levels. By the time Broly increases his power level, Goku might have found an even greater control over Ultra Instinct.
Super Saiyan 3 Goku at full power has a battle power of 24,000,000,000, 2 billion above Kid Buu's level.
Hercules is the Olympian God of Strength, and he might be one of the unique ones on this list capable enough of matching and overpowering Ultra Instinct Goku in terms of pure strength. Being a Half-God, Hercules is nigh-omnipotent and invulnerable to almost anything.
While Goku would be unable to survive a true Hakai blast as seen in Dragon Ball Super, it seems as though he can survive the weakened version of Destruction Energy. Beerus did save Goku from this energy in the end, yet the Saiyan showed no signs of being unable to handle the energy himself.
In all reality, Goku could probably beat Hit if the two fought again. However, that remains to be proven. Hit has worked to improve his Time-Skip ability and trained to become an even more powerful warrior. As one of the deadliest foes Goku has ever faced, Hit would certainly be an interesting match-up.
He can't breathe in space. Saiyans aren't able to breathe in space, and that's a point made repeatedly throughout the franchise. Toriyama indicated that Goku was still within the limits of Earth's atmosphere at the time that he was fighting Beerus, and that he could still breathe as a result.
The power of Ultra Instinct is staggering, allowing him to easily outclass Jiren even once the alien increased his power to maximum. Ultra Instinct also allowed Gokū to both attack and defend against Jiren without thinking.
Dragon Ball Z: Kakarot estimates that Goku's power levels are around 10 billion as of the Babidi Saga. By applying the same formula, this means that Goku, without Instant Transmission, can travel 22.321 trillion MPH -- or 33,314 times the speed of light!
While Dragon Ball's Goku has unlocked god-like powers of his own, he still doesn't stand a chance against Lord Beerus, the God of Destruction if the two were to ever fight again. There is, however, one classic Dragon Ball hero who actually could fend off Beerus with one ingenious attack.
Via transformation. Angels are naturally in the Perfected Ultra Instinct state and this ability is said to be their signature. Whis was the first person shown using this ability. Whis often uses this ability against Goku and Vegeta during training, and reveals its existence at around the time of Frieza's revenge.
Goku has definitely managed to come far from the time he fought the God in his Super Saiyan God state in Dragon Ball Z: Battle of Gods. The Saiyan is now potent enough to give Beerus a good amount of entertainment in fighting him.
Goku has been able to showcase the ability to lift over 100 tons with relative ease. He is even strong enough to lift a mountain over his head.
Goku is technically infinitely 3-D by power scaling, but he is not infinitely powerful.
Goku can destroy a universe, but not a space time continuum. They are different. And Low Multiversal requires being able to destroy either multiple space-time continuums or multiple 4-D areas larger than an infinite 3-D one. Correction, he can destroy everything inside a universe.
Also a God of Destruction, Beerus has access to techniques against which UI provides no benefit. Not only could Beerus easily defeat Ultra Instinct Goku, but he could do so instantly should he desire, a feat no one else on this list can achieve.
Ultra Ego Vegeta presents the Saiyan Prince at his best, but Black Frieza doesn't struggle to take out both Ultra Ego Vegeta and Ultra Instinct Goku in the same strike. For once, Frieza has completely surpassed his Saiyan nemeses.
Although Broly is thought to be stronger than Beerus, it can't be denied that Beerus has extra powers up his sleeve, such as Hakai. Beerus' status as a God of Destruction ultimately gives him the edge over pretty much anyone — including Broly.