Let's give you a simple comparison:
Difference 1: the usage is different.
"go" is the prototype of the verb "go", which is used in the first person singular (I), the second person singular (you), the second person plural (you) and the third person plural (them).
"goes" is the third person singular form of the verb "go", which is specially used to refer to the third person singular (he/she/it).
Example:
I go to the gym every morning. )
He goes to work by bus. He goes to work by bus. )
Difference 2: The emphasis on measuring purpose and attention is different.
"Go" emphasizes the progress or intensity of action, as well as the individual's will, goal or motivation.
"goes" emphasizes the action or state of the third person singular, and pays more attention to a specific individual.
Example:
I go jogging in the park to keep fit. I go jogging in the park to keep healthy. )
She goes shopping every week. She goes shopping every weekend. )
Difference 3: the difference between dynamic and static.
"go" emphasizes a dynamic behavior or state, indicating leaving the current position, moving or doing activities.
"goes" emphasizes the static state or continuous action of the third person singular.
Example:
They go on holiday every summer. )
The sun sets in the evening. (The sun goes down at night. )
Difference 4: The duration is different.
"go" can mean short-term action or behavior, or long-term activity or state.
"goes" is usually used to describe a relatively short, discrete or instantaneous action or state.
Example:
I want to go to the grocery store. )
The clock ticks. The clock ticks. )