Goku had been training hard in other world, during this time he had achieved Super Saiyan 3 however, due to the differences in the areas, the super saiyan three goku had been able to do in other world, was a lot harder and drained more energy on earth. Vegeta, did not have his body at this time period, and thus was unable to train.
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Episode 230 "Super Saiyan 3"
Goku does not turn super saiyan 6 or 5 in fact. and it only goes up to super saiyan 3 in the manga and super saiyan 4 in the cartoon.
Goku goes super saiyan 3 episode 246 in dragon ball z the episode name is super saiyan 3?! So its kinda hard to miss
Yes, he is stronger. But not when Goku is Super Saiyan 3 or 4.
Super Saiyan, Ultra Super Saiyan, Ultimate Super Saiyan, Full Power Super Saiyan, Super Saiyan 2, Mastered Super Saiyan 2, Super Saiyan 3 and 100% Super Saiyan 3. In GT, Super Saiyan 4 exists. Some belive that SSJ4 Goku fused with Shenron and absorbing the dragon balls is the equivilant of "SSJ5" which only exists in DB AE/AF which are fanmade creations.