I agree, research confirms that intra-species communication between animals and plants is real, though the term "communication" often does a lot of heavy-lifting in those studies. And while it's possible that goats have some built-in pheromone message encoder for transmitting complex ideas, such as "Daaandelion = helth", which we simply have not yet discovered, it is unlikely. At best, goats can demonstrate to other goats what to eat by example. However, even a solitary goat on a farm, one that has never seen other goats, will instinctively seek out specific plants when it's deficient in certain nutrients. It doesn't require a huge leap of faith to assume that this behavior extends to medicinal plants as well.
In other words, the goat doesn't know that it needs to eat a certain plant; it feels like it needs to eat a certain plant.
This principle even applies to humans, as babies will often eat dirt if they have a calcium deficiency. Clearly, they were never taught to do this, neither by adults (hopefully) nor by other babies.