In Xenoverse 2, Android 16 reveals that while he is programmed to kill Goku, he recognizes that Goku is a noble person and admits that he would prefer to be free of his programming.

Can Goku defeat Android 16?

Well, Android 16 was most likely able to beat him in his first form, but he wasn't programmed to harm anyone but Goku, but once Cell became a threat to the world he had to step in... something something plotpoints.

Can Goku Beat Android 17?

Android 18 is very likely on the same level as Piccolo or maybe slightly stronger or weaker. Android 17 on the other hand is definitely stronger than SSJG Goku but not stronger than SSJB Goku.