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the execution of this goal seems to just get the robot arm into the goal position meaning it curves a little bit in the path to get the end-effector where it needs to be

that's because it's only linearly interpolating in joint space, which leads to curved paths in Cartesian space.

I want to do this because I'm moving my robot arm into a planned trajectory for drilling

you'll want to use computeCartesianPath(..). Or use something like wiki/pilz_industrial_motion, which supports planning linear motions (but note: this is really "just" linear interpolation. It is not planning as MoveIt normally plans).