goku escapes by going a ginyu space pod that was programed to go to a planet called yardrat
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After Frieza was rendered "dead," Goku took Captain Ginyu's spaceship and escaped Namek. He ended up on the planet of the Yardrats and eventually returned to Earth after the spaceship was repaired.
Wish on namek dragon balls
No Goku escaped in one of those pods that the Ginyu force came in and escaped and trained in a nearby planet for about a year.
you take the ship you that you used to get there
Actually he does not die. At the end of the moment when he was going to fall in lava, he saw a ginyu's ship and escapes from namek. And lands on a mysterious planet, and learns instant transmission there only.