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I don't have an answer to whether this is intentional behavior or not, but I have opened an issue on the Nav2 repo: https://github.com/ros-planning/navigation2/issues/3075

In the meantime, setting the goal's timestamp to 0 resolves the problem. A timestamp of 0 will allow TF2 to use the most recent available transform, instead of forcing a transform at a specific time. To allow RViz input of a goal, I remapped RViz's /goal_pose to /rviz_goal, and added a node to subscribe to this new topic and republish a goal to /goal_pose with a 0 timestamp.