True, "have a garbage collector" was never the formal definition, it was more "automatic memory management". But this predates the work on Rust's ownership system and while there were theories of static automatic memory management, all practical examples of automatic memory management were some form of garbage collection.
If you go to the original 2009 announcement presentation for Go [1], not only is "memory-safety" listed as a primary goal, but Pike provides the definition of memory-safe that they are using, which is:
"The program should not be able to derive a bad address and just use it"
Which Go mostly achieves with a combination of garbage collection and not allowing pointer arithmetic.
The source of Go's failure is concurrency, which has a knock-on effect that invalidates memory safety. Note that stated goal from 2009 is "good support for concurrency", not "concurrent-safe".
[1] https://youtu.be/rKnDgT73v8s?t=463