Go’s more chaotic approach to allow strings to have non-Unicode contents is IMO more ergonomic. You validate that strings are UTF-8 at the place where you care that they are UTF-8. (So I’m agreeing.)
WTF-8 has some inconvenient properties. Concatenating two strings requires special handling. Rust's opaque types can patch over this but I bet Go's WTF-8 handling exposes some unintuitive behavior.
There is a desire to add a normal string API to OsStr but the details aren't settled. For example: should it be possible to split an OsStr on an OsStr needle? This can be implemented but it'd require switching to OMG-WTF-8 (https://rust-lang.github.io/rfcs/2295-os-str-pattern.html), an encoding with even more special cases. (I've thrown my own hat into this ring with OsStr::slice_encoded_bytes().)
The current state is pretty sad yeah. If you're OK with losing portability you can use the OsStrExt extension traits.
[1] https://www.unicode.org/versions/Unicode16.0.0/core-spec/cha...
If you run into this when encoding to UTF-8 then your source data isn't valid Unicode and it depends on what it really is if not proper Unicode. If you can validate at other boundaries then you won't have to deal with it there.