Just open the gate and watch the show. It might be fun.
I don’t know what yours will do. When I first open the pop door to let the young chicks out of the coop into the run, sometimes about half of them are on the ground within 15 minutes. Sometimes it takes three days for the first one to hop out of the pop door. Eventually they make it.
Yours are not young but I still don’t know if they will immediately rush out to the goat pen or if they will stand at the gate afraid to cross into the great unknown. Eventually one will and the rest will follow.
When it starts to get dark they will want to go back to the coop. They might make it. But if your gate is not in a line to the coop door, some might forget all about the gate, even if they have used it several times during the day. They get trapped behind the fence and walk it desperately, wanting to get back to the coop. But they can’t get through the fence! They just don’t realize they can walk to the gate and get through. It’s pretty funny to watch when it happens.
So be out there just before it gets dark in case you need to move them toward the gate. Other than that, you don’t really have to do anything.