Green’s Dictionary of Slang

(Aus./Irish) a glimpse, a look.

1914		Sport (Adelaide) 6 Nov. 5/6: Else M went to church / And thought it was a zoo; / All the boys followed her / Just to have a goo.
1991		R. Doyle Van (1998) 58: Every couple of seconds, when you thought you were going to get a goo at her knickers, she pulled down her skirt.