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The Goblin Army is registered as defeated in the world, so the Goblin will spawn at any time in the Caverns.
That is unless you didn't save the game in some sort of way.
https://terraria.gamepedia.com/Cavern
The Cavern is found on a certain depth, with the layer start depending on your world size, stated under the link I provided.
You can use a Depth Meter to determine when you are in the Caverns or still Underground.
The tied Goblin NPC will only appear in the worlds where the Goblin Army has been defeated. And once you free the Goblin, he will respawn on daytime with the obvious conditions.
You can use a Hunter Potion to ease up finding the NPC as he will get highlighted.
Once you find him, and untie him, he will respawn just like normal NPCs, so you don't have to find him again. Just make sure he has a house.