In Goals, you can view any goal's relationship with its parent or child goals by opening the tree view or lineage view. No special permissions are required to do this; anyone with a default security role of "Participant" or higher can open the tree or lineage view for any goal in their Domo instance.
Both views are accessible from the goal details view, which you can open just by clicking on a goal anywhere in Goals.
If you want to see the entire hierarchy of a goal in Goals with all of its child goals, you can do so by clicking View Tree in the menu in the goal details page.
Once in the tree, you can click the numeral under a goal to see all child goals of that goal. You can also click in the background and drag the tree to where you want it, if it is too large to see in a single view. Note that the tree view for a goal only allows you to see the goal and all of its children; you cannot drill "up" to see parents.
You can also see the lineage of your goal upwards using the lineage view. This view is essentially the opposite of the tree view, as it shows all parents of your goal up to the highest-level goal but does not show children. You choose this option by selecting View Lineage in the menu in the goal details page.
As with the tree view, you can click in the background and drag the tree to where you want it, if it is too large to see in a single view.