Goku reached Super Saiyan 4 in Dragon Ball GT, though his form seemed to be removed from canon with the movie Dragon Ball Z: Battle of the Gods, which led to the launch of Dragon Ball Super.
It remains to be seen if Goku will use the Ultra Instinct form in the next Dragon Ball movie.
According to V-Jump, the perfected Ultra Instinct form of Goku will also be coming to Dragon Ball Xenoverse 2 as part of the Extra Pack 2 DLC.
In his fight with Beerus, Goku attained the power of a Super Saiyan God, and later pushed it to the next level with Super Saiyan Blue, followed by Ultra Instinct during the Tournament of Power.