"Wie können wir zum Schloss gelangen?"

Translation: How can we get to the castle?

[andrew.montanaro]

Would "How can we go to the castle" work?

[Libpor]

They carry completely different meanings as an action, so I'd say no. When I learned the word gelangen, it had the literal English meaning "to arrive, to reach," or in this case "to get to." You may have asked because both questions how to get/go to would have the same literal meaning, they have very different figurative meanings.