The
go get command ensures that all packages transitively imported by the named package(s) are provided by some module in the module dependency graph. The
go mod tidy subcommand does the same for all packages transitively imported by your module (not just the dependencies of a specific package).
If go mod tidy is a no-nop for your module, then your dependency graph should not be missing any packages, even if your direct dependencies do not specify explicit requirements for them.