How so? King Kai or Supreme Kai easily could have told them.
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Because they would not survive the raids if they didn't know. The very fact you would include that is putting the fight in there favor.
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If Guardians go into Raids knowing what to do, then so do Goku and Vegeta.
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Nope, firstly we have our Ghosts. Secondly we already know others have gone into the raids before us and could of transmitted the data for us to use.
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And who's to say Goku doesn't just read a Guardian's mind and figure it all out?
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He's not that bright of a person.
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And? Pretty sure either Goku or Vegeta would figure it'd be a good idea to at least know what they're up against. And seeing as how Goku is telepathic, it's quite likely.
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They most likely wouldn't of know of the raids to begin with.