Delayed reclamation means that "when we don't need this Goat" will sometimes be arbitrarily delayed after we apparently didn't need it, and it's no longer possible to say for sure by examining the program. This will almost always be a trade you're willing to make, but you need to know it exists, this is not a fun thing to discover while debugging.
Hazard pointers are a bit fiddlier AIUI, since the reclamation step must be triggered explicitly and verify that no hazard pointers exist to the object being reclaimed, so it is quite possible that you won't promptly reclaim the object.
Maybe I'm wrong for some reason and there is a practical limit in play for RCU but not Hazard Pointers, I don't think so though.
What is delayed is the actual destruction/deallocation of the RCU-managed objects. Nobody cares about that delay unless the objects control limited resources (in which case, RCU is likely a bad fit) or there are so many objects and/or they are so large that the delay in deallocating them could cause memory pressure of some type.
Not to put too fine a point on things, but rust (and c++) very explicitly don’t guarantee this. They are both quite explicit about being allowed to leak memory and never free it (due to reference cycles), something a GC is not typically allowed to do. So yes it usually happens, it just is not guaranteed.
Implementing a garbage collector that is guaranteed to free memory when it's actually no longer needed is equivalent to solving the halting problem (via Rice's theorem), and so any garbage collection algorithm is going to have to leak some memory, it's simply unavoidable.
The "finalizer problem" in the Garbage Collected languages isn't about a Goat which never becomes unused, it's about a situation where the Goat is unused but the clean-up never happens.
If the finalizer was for an object that is just memory, it's not a problem. The GC has decided it doesn't need to recover the memory used by that object just yet. I've seen this with heaps defined to be large enough to handle a memory spike. When the spikes stop happening, a lot of stuff in the old gen pool just stays there. At one point I was looking at 50GB heap dumps looking for memory leaks.
It is a problem when the object has non memory resources like a socket descriptor. You can run out of descriptors. So not relying on GC and using try with resource is a good idea.