Do transformation initiatives always require pre-defined goals?

Digital transformation requires a clear end goal as well as detailed benchmarks to help lead teams in the right direction.

Yes. A defined goal is one of the prerequisites for a successful transformation journey. 

Absolutely.
Without defined goals and direction the initiative is almost certain to fail.  It is vital that a target, or purpose is defined or where will the initiative take you? The goals might not be 100% tangible or quantitative, but some target sand measure must be set. 

Definitely, but you should always be prepared to adjust and adapt to new information or blockers. Failing by being too rigid or for setting unattainable goals will only demoralise your team.

Yes.  A transformation should have pre-defined goals (perhaps a rubric or gap analysis for where you are currently at vs. where you want to be).

Upper management should have agreed to the the transformation pre-defined goals.

Hard to know our progress if we don’t have the goals defined.