Need to enable the 'Synchronize Goals from an objective plan and a review form' option in the Development Goals section of the form.
Reproducing the Issue
The ''Synchronize Goals from an objective plan and a review form' option is only available when you are linking a Goal Plan in the form.
This option is not available when linking a Development Plan.
The autosync option for Development Goals needs to be enabled in the form template XML.
Please create an incident and contact Customer Success. (See also Software Change Requests for Performance Management Templates - KB article 2250186).
Be sure to mention that you would like the following to be enabled in the Development Goals section of your form:
Development Plan, Goals, autosync, Synchronize Goals from an objective plan and a review form, objectives , KBA , LOD-SF-CDP-ADM , Admin Tools, Permissions, Settings , How To