If "goad" means to provoke or urge someone to action:
* Discourage
* Dissuade
* Deter
* Appease
* Soothe
If "goad" means to prod or drive someone forward:
* Hold back
* Reassure
* Comfort
* Pacify
* Support
If "goad" means to irritate or annoy:
* Soothe
* Calm
* Comfort
* Relieve
* Please
Examples:
* Provoke: The coach goaded the team into playing harder. (Antonym: The coach appeased the team by giving them a break.)
* Prod: The teacher goaded the students to finish their work. (Antonym: The teacher reassured the students that they had plenty of time.)
* Irritate: The constant noise goaded her into anger. (Antonym: The quiet atmosphere soothed her.)