Yes. I don't even need to read your post, just the fact that you have goats makes me sure that the answer is yes. Welcome to the club. *grin*
I've done it. Here are some hints: expect them to climb on you most of the night. They are surprisingly talkative at night, too. If you sleep in their stall with them, at least one of them will pee on your sleeping bag. Plan it for a day when you can take a nice long nap the next day.
You're right. I'm crazy enough to own goats in the first place :hammer:
I was thinking of doing it when the weather warms up (it's winter here). I spent an hour sitting with them this evening and it was pleasant (apart from all the gross rumen noises LOL)
Awh I get excited thinking about it. Goat sleepover!!