In his quest for power and ever more thrilling battles, Goku is willing to do almost anything. His passion even leads him to ask Bulma to use her money to organize a world championship in Dragon Ball Z: Kakarot.
Time for a Tournament!
Go directly to Capsule Corporation as Goku to talk to Bulma about the idea of organizing a martial arts championship. She'll accept soon enough, but she'll need your help. Make your way to the championship arena. There, the host will tell you that you can't use this place since it's sacred and can only be used for the official world championship, but that he'll be happy to host the one that Goku will organize.
Come back to the Capsule Corporation to tell Bulma what you learned. She'll will offer to buy the stadium that was used for the Cell Games and the land around it. Some time later, she'll call you to let you know that everything is ready. Go to Kodaiho Lands to start the tournament.
You won't be alone during this tournament. Teams will be formed and Krilin will join you for all the fights. The goal will be to defeat all your friends. Don't underestimate the level of the battles, especially the one against Yamcha and Vegeta.
No soul emblem, but the fighting does bring a lot of experience.