Making it a point to work out with a friend is an example of a fitness goal.

The question is not easy, as different people might interpret a "fitness goal" differently. 

but if what you want is to get healthier, then working out with a friend is not a goal, but rather a method to do it - then it would be false. It's more a motivation to achieve the actual goal. 

But if your goal is for example recognition from your friends, then yes, working out with a friend would be a  fitness goal!