The validation failed because a Let's Encrypt Auth server did not see that TXT record. If you are sure it was present in the public DNS there are two likely causes.
One, the GoDaddy DNS servers need longer to sync amongst themselves. The LE Auth servers check from various points around the world and they must all see the TXT record. You should add a delay after adding the TXT but before requesting the cert. Many ACME Clients have options for that I just don't know how with cert-manager off-hand.
Two, some DNS config problem. The LE Auth servers walk the DNS tree and every legit path must reply properly. Config problems like faulty delegation can cause intermittent query failures. Provide your actual domain name and we could check. A tool like https://dnsviz.net is often helpful for common misconfigurations.