It is not safe to do so and you're understandably asking yourself "but why? my goroutines are working on different already existing entries, so what's going on exactly?".
It turns out that a go builtin map is an opaque stucture that is free to completely reorganize itself at any write operation. Thus, it must be regarded as a whole when thinking about data races. The docs are very explicit about this restriction, and the runtime and the race detector do their best at crashing to guide you into enforcing the rule.
Although it would be "conceivable" for a map to reorganize itself on read operations (say, to move recently or frequently accessed entries to optimized buckets), go builtin maps don't do that and it is safe to have multiple concurrent readers, as long as no writer wolf enters.
HTH
Val