Shipping to Goa is possible but not very frequent. It is likely that your container (assuming you are talking about container shipping) would end up going via Nheva Sheva, Mumbai's big container port (about 90km south of Mumbai) and then being put on a coaster. It would be better to get the car out at Nheva Sheva and drive south - it is 1-2 days drive. You will get much more choice of dates - and it will be significantly cheaper.
In terms of Africa, I would assume Djibouti, Port Sudan, Mombasa or Dar are your choices. Or you could carry on down to Durban...