Fans separate tactical insight from parental judgment
Discussion around the Senzu Bean often divides into two questions. Was Goku correct that Gohan possessed the power needed to beat Cell? Very likely. Was Goku correct that Gohan would respond to pressure the same way Goku would? Piccolo's intervention suggests otherwise.
That distinction explains why the scene keeps producing arguments: Goku can understand the battlefield and misunderstand his son at the same time.