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Yes. He did in fact master Ultra Instinct. As per the latest chapter 65 of DBS manga, Goku has demonstrated the ability to enter into and deactivate Ultra Instinct at will. Jimi’s answer (Jimi Afolabi's answer to Has Goku mastered Ultra Instinct? If so, then did he even surpass Beerus?) already does a good job explaining the relevant details.Is Goku stronger than Broly with Ultra Instinct?
Ultra Instinct Goku is faster, stronger, and more agile compared to his opponent and on top of that, there is a significant difference in their respective power levels. By the time Broly increases his power level, Goku might have found an even greater control over Ultra Instinct.Can Goku still transform into Ultra Instinct?
Goku is able to bounce back rather quickly considering he’s Goku, but the best he can do after that is trigger an unstable Super Saiyan that flickers in and out. Going into the next movie, Goku still won’t have Ultra Instinct fully stable.How does Goku Master Ultra Instinct?
Does Goku learn to master ultra instinct? Once Goku fully focused his heart and soul into the Ultra Instinct Sign form, he managed to access the completed form that gives him complete mastery of Ultra Instinct. In this ultimate state of fighting, Goku was able to utilize both the defensive and offensive might of this ability.