The key point is “I felt” In English, after certain verbs of perception, such as “feel”, “see”, “hear” etc. , we can use the “Bare Infinitive” or “Infinitive without To”. (Sometimes we can use a Gerund, but that's a different topic). Examples (in the present tense) to demonstrate go and goes: (A) Everything inside me goes numb. (correct) (B) I feel everything inside me go numb. (correct, and ‘goes’ would be incorrect in this sentence) (C) I feel everything inside me going numb. (using a Gerund here is also correct) Example with “see”: (A) He comes and goes all the time. (B) I see him come and go all the time. Hope I have helped.

peterpierre is right.

Oh, native speakers sometimes are not sure of English grammar.

watch you die. hear you yelling. see this coming. see HIM do it.

This is nonsense. There is no such thing as plural or singular from of verbs. Other than that, the "go" is infinitive.