The car is registered at Chennai. Issuance of NOC but no re-registration does not render the car as un-registered. You can get the NOC cancelled & continue with Chennai registration or can get a fresh NOC & get it re-registered at Goa. Regarding fees, it varies from state to state - you may have to check-up locally.
Regarding insurance, actually, as per rules, if there's a claim in Goa while the car is registered at Chennai, the insurance company can reject the claim, as you are supposed to get it re-registered on relocation. Nevertheless, it is, however, not an issue, as there's no restriction in moving/driving the car anywhere in India - in such cases, people generally make a case as if the accident had occurred while they were touring Goa (and do not disclose about their relocation).
Honesty is not a Spare Wheel that you pull out when in trouble. It's a Steering Wheel that keeps you on the right path throughout the life's journey.
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