diff --git a/integration/tests/__image_snapshots__/all-test-ts-baseline-visual-tests-for-all-stories-goal-alpha-auto-linear-ticks-visually-looks-correct-1-snap.png b/integration/tests/__image_snapshots__/all-test-ts-baseline-visual-tests-for-all-stories-goal-alpha-auto-linear-ticks-visually-looks-correct-1-snap.png
new file mode 100644
index 0000000000..4d4efc5f2a
Binary files /dev/null and b/integration/tests/__image_snapshots__/all-test-ts-baseline-visual-tests-for-all-stories-goal-alpha-auto-linear-ticks-visually-looks-correct-1-snap.png differ
diff --git a/integration/tests/__image_snapshots__/goal-stories-test-ts-goal-stories-auto-ticks-goal-reverse-false-1-snap.png b/integration/tests/__image_snapshots__/goal-stories-test-ts-goal-stories-auto-ticks-goal-reverse-false-1-snap.png
new file mode 100644
index 0000000000..3028c84dd4
Binary files /dev/null and b/integration/tests/__image_snapshots__/goal-stories-test-ts-goal-stories-auto-ticks-goal-reverse-false-1-snap.png differ
diff --git a/integration/tests/__image_snapshots__/goal-stories-test-ts-goal-stories-auto-ticks-goal-reverse-true-1-snap.png b/integration/tests/__image_snapshots__/goal-stories-test-ts-goal-stories-auto-ticks-goal-reverse-true-1-snap.png
new file mode 100644
index 0000000000..626f9457d8
Binary files /dev/null and b/integration/tests/__image_snapshots__/goal-stories-test-ts-goal-stories-auto-ticks-goal-reverse-true-1-snap.png differ
diff --git a/integration/tests/goal_stories.test.ts b/integration/tests/goal_stories.test.ts
index 54341020e0..40bcce9625 100644
--- a/integration/tests/goal_stories.test.ts
+++ b/integration/tests/goal_stories.test.ts
@@ -83,6 +83,14 @@ describe('Goal stories', () => {
     );
   });
 
+  describe('auto ticks', () => {
+    it.each<boolean>([true, false])('goal - reverse %p', async (reverse) => {
+      await common.expectChartAtUrlToMatchScreenshot(
+        `http://localhost:9001/?path=/story/goal-alpha--auto-linear-ticks&knob-subtype=goal&knob-reverse=${reverse}`,
+      );
+    });
+  });
+
   describe('sagitta shifted goal charts', () => {
     it.each<[title: string, startAngle: number, endAngle: number]>([
       // top openings
diff --git a/packages/charts/api/charts.api.md b/packages/charts/api/charts.api.md
index 8b393be5f6..b4f106fcd6 100644
--- a/packages/charts/api/charts.api.md
+++ b/packages/charts/api/charts.api.md
@@ -958,6 +958,12 @@ export function getNodeName(node: ArrayNode): string;
 // @alpha
 export const Goal: (props: SFProps<GoalSpec, keyof typeof buildProps['overrides'], keyof typeof buildProps['defaults'], keyof typeof buildProps['optionals'], keyof typeof buildProps['requires']>) => null;
 
+// @alpha (undocumented)
+export interface GoalDomainRange {
+    max: number;
+    min: number;
+}
+
 // @alpha (undocumented)
 export type GoalLabelAccessor = LabelAccessor<BandFillColorAccessorInput>;
 
@@ -978,8 +984,7 @@ export interface GoalSpec extends Spec {
     bandFillColor: BandFillColorAccessor;
     // (undocumented)
     bandLabels: string[];
-    // (undocumented)
-    bands: number[];
+    bands?: number | number[];
     // (undocumented)
     base: number;
     // (undocumented)
@@ -988,6 +993,7 @@ export interface GoalSpec extends Spec {
     centralMinor: string | GoalLabelAccessor;
     // (undocumented)
     chartType: typeof ChartType.Goal;
+    domain: GoalDomainRange;
     // (undocumented)
     labelMajor: string | GoalLabelAccessor;
     // (undocumented)
@@ -1000,8 +1006,7 @@ export interface GoalSpec extends Spec {
     subtype: GoalSubtype;
     // (undocumented)
     target?: number;
-    // (undocumented)
-    ticks: number[];
+    ticks?: number | number[];
     // (undocumented)
     tickValueFormatter: GoalLabelAccessor;
     // (undocumented)
diff --git a/packages/charts/src/chart_types/goal_chart/layout/types/viewmodel_types.ts b/packages/charts/src/chart_types/goal_chart/layout/types/viewmodel_types.ts
index 4180eb7dfb..bc9ecb2b6a 100644
--- a/packages/charts/src/chart_types/goal_chart/layout/types/viewmodel_types.ts
+++ b/packages/charts/src/chart_types/goal_chart/layout/types/viewmodel_types.ts
@@ -62,13 +62,11 @@ export type ShapeViewModel = {
 const commonDefaults = {
   base: 0,
   actual: 50,
-  ticks: [0, 25, 50, 75, 100],
 };
 
 /** @internal */
 export const defaultGoalSpec = {
   ...commonDefaults,
-  bands: [50, 75, 100],
   bandFillColor: ({ value, highestValue, lowestValue }: BandFillColorAccessorInput) => {
     return getGreensColorScale(0.5, [highestValue, lowestValue])(value);
   },
diff --git a/packages/charts/src/chart_types/goal_chart/layout/viewmodel/viewmodel.ts b/packages/charts/src/chart_types/goal_chart/layout/viewmodel/viewmodel.ts
index 68ad0462f1..941f7c91ad 100644
--- a/packages/charts/src/chart_types/goal_chart/layout/viewmodel/viewmodel.ts
+++ b/packages/charts/src/chart_types/goal_chart/layout/viewmodel/viewmodel.ts
@@ -6,10 +6,14 @@
  * Side Public License, v 1.
  */
 
+import { Radian } from '../../../../common/geometry';
+import { ScaleContinuous } from '../../../../scales';
 import { Dimensions } from '../../../../utils/dimensions';
 import { Theme } from '../../../../utils/themes/theme';
 import { GoalSpec } from '../../specs';
+import { GoalSubtype } from '../../specs/constants';
 import { BulletViewModel, PickFunction, ShapeViewModel } from '../types/viewmodel_types';
+import { clamp, clampAll, isBetween, isFiniteNumber, isNil } from './../../../../utils/common';
 
 /** @internal */
 export function shapeViewModel(spec: GoalSpec, theme: Theme, chartDimensions: Dimensions): ShapeViewModel {
@@ -24,11 +28,9 @@ export function shapeViewModel(spec: GoalSpec, theme: Theme, chartDimensions: Di
 
   const {
     subtype,
-    base,
-    target,
-    actual,
-    bands,
     ticks,
+    bands,
+    domain,
     bandFillColor,
     tickValueFormatter,
     labelMajor,
@@ -39,13 +41,40 @@ export function shapeViewModel(spec: GoalSpec, theme: Theme, chartDimensions: Di
     angleStart,
     angleEnd,
   } = spec;
-  const [lowestValue, highestValue] = [base, ...(target ? [target] : []), actual, ...bands, ...ticks].reduce(
-    ([min, max], value) => [Math.min(min, value), Math.max(max, value)],
-    [Infinity, -Infinity],
-  );
+  const lowestValue = isFiniteNumber(domain.min) ? domain.min : 0;
+  const highestValue = isFiniteNumber(domain.max) ? domain.max : 1;
+  const base = clamp(spec.base, lowestValue, highestValue);
+  const target =
+    !isNil(spec.target) && spec.target <= highestValue && spec.target >= lowestValue ? spec.target : undefined;
+  const actual = clamp(spec.actual, lowestValue, highestValue);
+  const finalTicks = Array.isArray(ticks)
+    ? ticks.filter(isBetween(lowestValue, highestValue))
+    : new ScaleContinuous(
+        {
+          type: 'linear',
+          domain: [lowestValue, highestValue],
+          range: [0, 1],
+        },
+        {
+          desiredTickCount: ticks ?? getDesiredTicks(subtype, angleStart, angleEnd),
+        },
+      ).ticks();
+
+  const finalBands = Array.isArray(bands)
+    ? bands.reduce(...clampAll(lowestValue, highestValue))
+    : new ScaleContinuous(
+        {
+          type: 'linear',
+          domain: [lowestValue, highestValue],
+          range: [0, 1],
+        },
+        {
+          desiredTickCount: bands ?? getDesiredTicks(subtype, angleStart, angleEnd),
+        },
+      ).ticks();
 
-  const aboveBaseCount = bands.filter((b: number) => b > base).length;
-  const belowBaseCount = bands.filter((b: number) => b <= base).length;
+  const aboveBaseCount = finalBands.filter((b: number) => b > base).length;
+  const belowBaseCount = finalBands.filter((b: number) => b <= base).length;
 
   const callbackArgs = {
     base,
@@ -62,12 +91,12 @@ export function shapeViewModel(spec: GoalSpec, theme: Theme, chartDimensions: Di
     base,
     target,
     actual,
-    bands: bands.map((value: number, index: number) => ({
+    bands: finalBands.map((value: number, index: number) => ({
       value,
       fillColor: bandFillColor({ value, index, ...callbackArgs }),
       text: bandLabels,
     })),
-    ticks: ticks.map((value: number, index: number) => ({
+    ticks: finalTicks.map((value: number, index: number) => ({
       value,
       text: tickValueFormatter({ value, index, ...callbackArgs }),
     })),
@@ -98,3 +127,9 @@ export function shapeViewModel(spec: GoalSpec, theme: Theme, chartDimensions: Di
     pickQuads,
   };
 }
+
+function getDesiredTicks(subtype: GoalSubtype, angleStart: Radian, angleEnd: Radian) {
+  if (subtype !== GoalSubtype.Goal) return 5;
+  const arc = Math.abs(angleStart - angleEnd);
+  return Math.ceil(arc / (Math.PI / 4));
+}
diff --git a/packages/charts/src/chart_types/goal_chart/specs/index.ts b/packages/charts/src/chart_types/goal_chart/specs/index.ts
index 6febeb9af4..e131dc099c 100644
--- a/packages/charts/src/chart_types/goal_chart/specs/index.ts
+++ b/packages/charts/src/chart_types/goal_chart/specs/index.ts
@@ -37,6 +37,18 @@ export type BandFillColorAccessor = (input: BandFillColorAccessorInput) => Color
 /** @alpha */
 export type GoalLabelAccessor = LabelAccessor<BandFillColorAccessorInput>;
 
+/** @alpha */
+export interface GoalDomainRange {
+  /**
+   * A finite number to defined the lower bound of the domain. Defaults to 0 if _not_ finite.
+   */
+  min: number;
+  /**
+   * A finite number to defined the upper bound of the domain. Defaults to 1 if _not_ finite.
+   */
+  max: number;
+}
+
 /** @alpha */
 export interface GoalSpec extends Spec {
   specType: typeof SpecType.Series;
@@ -45,8 +57,18 @@ export interface GoalSpec extends Spec {
   base: number;
   target?: number;
   actual: number;
-  bands: number[];
-  ticks: number[];
+  /**
+   * array of discrete band intervals or approximate number of desired bands
+   */
+  bands?: number | number[];
+  /**
+   * Array of discrete tick values or approximate number of desired ticks
+   */
+  ticks?: number | number[];
+  /**
+   * Domain of goal charts. Limits every value to within domain.
+   */
+  domain: GoalDomainRange;
   bandFillColor: BandFillColorAccessor;
   tickValueFormatter: GoalLabelAccessor;
   labelMajor: string | GoalLabelAccessor;
diff --git a/packages/charts/src/components/accessibility/accessibility.test.tsx b/packages/charts/src/components/accessibility/accessibility.test.tsx
index 0eedeb9042..3445b67762 100644
--- a/packages/charts/src/components/accessibility/accessibility.test.tsx
+++ b/packages/charts/src/components/accessibility/accessibility.test.tsx
@@ -132,6 +132,7 @@ describe('Accessibility', () => {
           target={260}
           actual={170}
           bands={[200, 250, 300]}
+          domain={{ min: 0, max: 300 }}
           ticks={[0, 50, 100, 150, 200, 250, 300]}
           labelMajor="Revenue 2020 YTD  "
           labelMinor="(thousand USD)  "
@@ -155,6 +156,7 @@ describe('Accessibility', () => {
           target={260}
           actual={170}
           bands={bandsAscending}
+          domain={{ min: 0, max: 300 }}
           ticks={[0, 50, 100, 150, 200, 250, 300]}
           labelMajor="Revenue 2020 YTD  "
           labelMinor="(thousand USD)  "
diff --git a/packages/charts/src/utils/common.test.ts b/packages/charts/src/utils/common.test.ts
index c67e4321ad..c7e36bcf28 100644
--- a/packages/charts/src/utils/common.test.ts
+++ b/packages/charts/src/utils/common.test.ts
@@ -20,6 +20,8 @@ import {
   isUniqueArray,
   isDefined,
   isDefinedFrom,
+  isBetween,
+  clampAll,
 } from './common';
 
 describe('common utilities', () => {
@@ -1025,4 +1027,22 @@ describe('#isDefinedFrom', () => {
     );
     expect(result).toEqual(values.slice(0, 3));
   });
+
+  describe('#isBetween', () => {
+    it('should filter array values between min and max inclusive', () => {
+      expect([1, 2, 3, 4, 5, 6].filter(isBetween(2, 5, false))).toEqual([2, 3, 4, 5]);
+    });
+    it('should filter array values between min and max exclusive', () => {
+      expect([1, 2, 3, 4, 5, 6].filter(isBetween(2, 5, true))).toEqual([3, 4]);
+    });
+  });
+
+  describe('#clampAll', () => {
+    it('should clamp each value in array between min and max', () => {
+      expect([0, 200, 400].reduce(...clampAll(100, 300))).toEqual([100, 200, 300]);
+    });
+    it('should clamp array values and remove duplicates', () => {
+      expect([0, 100, 200, 300, 400].reduce(...clampAll(100, 300))).toEqual([100, 200, 300]);
+    });
+  });
 });
diff --git a/packages/charts/src/utils/common.ts b/packages/charts/src/utils/common.ts
index 816d461c85..bc1b3a48be 100644
--- a/packages/charts/src/utils/common.ts
+++ b/packages/charts/src/utils/common.ts
@@ -645,3 +645,30 @@ export function stripUndefined<R extends Record<string, unknown>>(source: R): R
     return acc;
   }, {} as R);
 }
+
+/**
+ * Returns `Array.filter` callback for values between a min and max
+ * @internal
+ */
+export const isBetween = (min: number, max: number, exclusive = false): ((n: number) => boolean) =>
+  exclusive ? (n) => n < max && n > min : (n) => n <= max && n >= min;
+
+/**
+ * Returns `Array.reduce` callback to clamp values and remove duplicates
+ * @internal
+ */
+export const clampAll = (
+  min: number,
+  max: number,
+): [callbackfn: (acc: number[], value: number) => number[], initialAcc: number[]] => {
+  const seen = new Set<number>();
+  return [
+    (acc: number[], n: number) => {
+      const clampValue = clamp(n, min, max);
+      if (!seen.has(clampValue)) acc.push(clampValue);
+      seen.add(clampValue);
+      return acc;
+    },
+    [],
+  ];
+};
diff --git a/storybook/stories/goal/10_band_in_band.story.tsx b/storybook/stories/goal/10_band_in_band.story.tsx
index 5aad312fa8..443455055b 100644
--- a/storybook/stories/goal/10_band_in_band.story.tsx
+++ b/storybook/stories/goal/10_band_in_band.story.tsx
@@ -34,6 +34,7 @@ export const Example = () => (
       target={0}
       actual={0}
       bands={[225, 300]}
+      domain={{ min: 0, max: 300 }}
       ticks={[0, 50, 100, 150, 200, 250, 300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
       bandFillColor={({ value }: BandFillColorAccessorInput) => bandFillColor(value)}
diff --git a/storybook/stories/goal/11_gaps.story.tsx b/storybook/stories/goal/11_gaps.story.tsx
index 6d5a9570d9..a2d1f9a8b9 100644
--- a/storybook/stories/goal/11_gaps.story.tsx
+++ b/storybook/stories/goal/11_gaps.story.tsx
@@ -41,6 +41,7 @@ export const Example = () => {
         base={0}
         target={showTarget ? target : undefined}
         actual={280}
+        domain={{ min: 0, max: 300 }}
         bands={[199, 201, 249, 251, 300]}
         ticks={[0, 50, 100, 150, 200, 250, 300]}
         tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/12_range.story.tsx b/storybook/stories/goal/12_range.story.tsx
index 87bcd2bccd..b432133d7c 100644
--- a/storybook/stories/goal/12_range.story.tsx
+++ b/storybook/stories/goal/12_range.story.tsx
@@ -35,6 +35,7 @@ export const Example = () => (
       target={0}
       actual={0}
       bands={[215, 235, 300]}
+      domain={{ min: 0, max: 300 }}
       ticks={[0, 50, 100, 150, 200, 250, 300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
       bandFillColor={({ value }: BandFillColorAccessorInput) => bandFillColor(value)}
diff --git a/storybook/stories/goal/13_confidence_level.story.tsx b/storybook/stories/goal/13_confidence_level.story.tsx
index ba0924da07..92909a0f11 100644
--- a/storybook/stories/goal/13_confidence_level.story.tsx
+++ b/storybook/stories/goal/13_confidence_level.story.tsx
@@ -38,6 +38,7 @@ export const Example = () => (
       base={0}
       target={226.5}
       actual={0}
+      domain={{ min: 0, max: 300 }}
       bands={[210, 218, 224, 229, 235, 243, 300]}
       ticks={[0, 50, 100, 150, 200, 250, 300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/14_one_third.story.tsx b/storybook/stories/goal/14_one_third.story.tsx
index cc28b62ffd..4be3905283 100644
--- a/storybook/stories/goal/14_one_third.story.tsx
+++ b/storybook/stories/goal/14_one_third.story.tsx
@@ -34,6 +34,7 @@ export const Example = () => (
       base={0}
       target={260}
       actual={280}
+      domain={{ min: 0, max: 300 }}
       bands={[200, 250, 300]}
       ticks={[0, 50, 100, 150, 200, 250, 300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/15_half_circle.story.tsx b/storybook/stories/goal/15_half_circle.story.tsx
index 4799b373eb..6fe7ff39dd 100644
--- a/storybook/stories/goal/15_half_circle.story.tsx
+++ b/storybook/stories/goal/15_half_circle.story.tsx
@@ -34,6 +34,7 @@ export const Example = () => (
       base={0}
       target={260}
       actual={280}
+      domain={{ min: 0, max: 300 }}
       bands={[200, 250, 300]}
       ticks={[0, 50, 100, 150, 200, 250, 300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/16_two_thirds.story.tsx b/storybook/stories/goal/16_two_thirds.story.tsx
index a1050859c2..642fdc2363 100644
--- a/storybook/stories/goal/16_two_thirds.story.tsx
+++ b/storybook/stories/goal/16_two_thirds.story.tsx
@@ -34,6 +34,7 @@ export const Example = () => (
       base={0}
       target={260}
       actual={280}
+      domain={{ min: 0, max: 300 }}
       bands={[200, 250, 300]}
       ticks={[0, 50, 100, 150, 200, 250, 300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/17_three_quarters.story.tsx b/storybook/stories/goal/17_three_quarters.story.tsx
index b856e74731..7f477704a6 100644
--- a/storybook/stories/goal/17_three_quarters.story.tsx
+++ b/storybook/stories/goal/17_three_quarters.story.tsx
@@ -34,6 +34,7 @@ export const Example = () => (
       base={0}
       target={260}
       actual={280}
+      domain={{ min: 0, max: 300 }}
       bands={[200, 250, 300]}
       ticks={[0, 50, 100, 150, 200, 250, 300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/17_total_circle.story.tsx b/storybook/stories/goal/17_total_circle.story.tsx
index 564631bcc0..5c0f883176 100644
--- a/storybook/stories/goal/17_total_circle.story.tsx
+++ b/storybook/stories/goal/17_total_circle.story.tsx
@@ -35,6 +35,7 @@ export const Example = () => {
         base={0}
         target={260}
         actual={280}
+        domain={{ min: 0, max: 300 }}
         bands={[200, 250, 300]}
         ticks={[0, 50, 100, 150, 200, 250, 265, 280]}
         tickValueFormatter={({ value }) => String(value)}
diff --git a/storybook/stories/goal/17_very_small_gap.story.tsx b/storybook/stories/goal/17_very_small_gap.story.tsx
index 26e27cf419..caf5402f34 100644
--- a/storybook/stories/goal/17_very_small_gap.story.tsx
+++ b/storybook/stories/goal/17_very_small_gap.story.tsx
@@ -34,6 +34,7 @@ export const Example = () => (
       base={0}
       target={260}
       actual={280}
+      domain={{ min: 0, max: 300 }}
       bands={[200, 250, 300]}
       ticks={[0, 50, 100, 150, 200, 250, 265, 280]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/18_side_gauge.story.tsx b/storybook/stories/goal/18_side_gauge.story.tsx
index 8a478720fd..b4a95abe1f 100644
--- a/storybook/stories/goal/18_side_gauge.story.tsx
+++ b/storybook/stories/goal/18_side_gauge.story.tsx
@@ -32,6 +32,7 @@ export const Example = () => (
       base={0}
       target={260}
       actual={280}
+      domain={{ min: 0, max: 300 }}
       bands={[200, 250, 300]}
       ticks={[0, 50, 100, 150, 200, 250, 300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/18_side_gauge_inverted_angle_relation.story.tsx b/storybook/stories/goal/18_side_gauge_inverted_angle_relation.story.tsx
index 6fdd5e4500..7bda47aeab 100644
--- a/storybook/stories/goal/18_side_gauge_inverted_angle_relation.story.tsx
+++ b/storybook/stories/goal/18_side_gauge_inverted_angle_relation.story.tsx
@@ -32,6 +32,7 @@ export const Example = () => (
       base={0}
       target={260}
       actual={280}
+      domain={{ min: 0, max: 300 }}
       bands={[200, 250, 300]}
       ticks={[0, 50, 100, 150, 200, 250, 300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/19_horizontal_negative.story.tsx b/storybook/stories/goal/19_horizontal_negative.story.tsx
index 4279b0bade..41a4e1c881 100644
--- a/storybook/stories/goal/19_horizontal_negative.story.tsx
+++ b/storybook/stories/goal/19_horizontal_negative.story.tsx
@@ -38,6 +38,7 @@ export const Example = () => (
       base={0}
       target={-260}
       actual={-280}
+      domain={{ min: -300, max: 0 }}
       bands={[-200, -250, -300]}
       ticks={[0, -50, -100, -150, -200, -250, -300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/20_vertical_negative.story.tsx b/storybook/stories/goal/20_vertical_negative.story.tsx
index e87e4cb35c..98a57e0d27 100644
--- a/storybook/stories/goal/20_vertical_negative.story.tsx
+++ b/storybook/stories/goal/20_vertical_negative.story.tsx
@@ -38,6 +38,7 @@ export const Example = () => (
       base={0}
       target={-260}
       actual={-280}
+      domain={{ min: -300, max: 0 }}
       bands={[-200, -250, -300]}
       ticks={[0, -50, -100, -150, -200, -250, -300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/21_goal_negative.story.tsx b/storybook/stories/goal/21_goal_negative.story.tsx
index 68e1f49b20..f30db1a373 100644
--- a/storybook/stories/goal/21_goal_negative.story.tsx
+++ b/storybook/stories/goal/21_goal_negative.story.tsx
@@ -38,6 +38,7 @@ export const Example = () => (
       base={0}
       target={-260}
       actual={-280}
+      domain={{ min: -300, max: 0 }}
       bands={[-200, -250, -300]}
       ticks={[0, -50, -100, -150, -200, -250, -300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/22_horizontal_plusminus.story.tsx b/storybook/stories/goal/22_horizontal_plusminus.story.tsx
index 305108a944..511d34e687 100644
--- a/storybook/stories/goal/22_horizontal_plusminus.story.tsx
+++ b/storybook/stories/goal/22_horizontal_plusminus.story.tsx
@@ -40,6 +40,7 @@ export const Example = () => (
       base={0}
       target={260}
       actual={-80}
+      domain={{ min: -200, max: 300 }}
       bands={[-200, -100, 0, 200, 250, 300]}
       ticks={[-200, -100, 0, 100, 200, 300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/23_vertical_plusminus.story.tsx b/storybook/stories/goal/23_vertical_plusminus.story.tsx
index bafc02e92e..f8257d342c 100644
--- a/storybook/stories/goal/23_vertical_plusminus.story.tsx
+++ b/storybook/stories/goal/23_vertical_plusminus.story.tsx
@@ -40,6 +40,7 @@ export const Example = () => (
       base={0}
       target={260}
       actual={-80}
+      domain={{ min: -200, max: 300 }}
       bands={[-200, -100, 0, 200, 250, 300]}
       ticks={[-200, -100, 0, 100, 200, 300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/24_goal_plusminus.story.tsx b/storybook/stories/goal/24_goal_plusminus.story.tsx
index 4e26971db8..b2b4d6f650 100644
--- a/storybook/stories/goal/24_goal_plusminus.story.tsx
+++ b/storybook/stories/goal/24_goal_plusminus.story.tsx
@@ -40,6 +40,7 @@ export const Example = () => (
       base={0}
       target={260}
       actual={-80}
+      domain={{ min: -100, max: 300 }}
       bands={[-100, -50, 0, 200, 250, 300]}
       ticks={[-100, 0, 100, 200, 300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/25_goal_semantic.story.tsx b/storybook/stories/goal/25_goal_semantic.story.tsx
index 673ab45816..fec2b5c01e 100644
--- a/storybook/stories/goal/25_goal_semantic.story.tsx
+++ b/storybook/stories/goal/25_goal_semantic.story.tsx
@@ -39,7 +39,7 @@ export const Example = () => {
         base={0}
         target={260}
         actual={170}
-        // doesn't mess with canvas_renderers.ts
+        domain={{ min: 0, max: 300 }}
         bands={bands}
         ticks={[0, 50, 100, 150, 200, 250, 300]}
         tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/26_auto_linear_ticks.story.tsx b/storybook/stories/goal/26_auto_linear_ticks.story.tsx
new file mode 100644
index 0000000000..b7b25339f7
--- /dev/null
+++ b/storybook/stories/goal/26_auto_linear_ticks.story.tsx
@@ -0,0 +1,65 @@
+/*
+ * Copyright Elasticsearch B.V. and/or licensed to Elasticsearch B.V. under one
+ * or more contributor license agreements. Licensed under the Elastic License
+ * 2.0 and the Server Side Public License, v 1; you may not use this file except
+ * in compliance with, at your election, the Elastic License 2.0 or the Server
+ * Side Public License, v 1.
+ */
+
+import { array, boolean, number } from '@storybook/addon-knobs';
+import React from 'react';
+
+import { Chart, Goal, Settings } from '@elastic/charts';
+import { BandFillColorAccessorInput } from '@elastic/charts/src/chart_types/goal_chart/specs';
+import { GoalSubtype } from '@elastic/charts/src/chart_types/goal_chart/specs/constants';
+
+import { useBaseTheme } from '../../use_base_theme';
+import { getKnobsFromEnum } from '../utils/knobs';
+
+export const Example = () => {
+  const subtype =
+    getKnobsFromEnum('subtype', GoalSubtype, GoalSubtype.VerticalBullet as GoalSubtype) ?? GoalSubtype.VerticalBullet;
+  const reverse = boolean('reverse', false);
+  const start = number('angleStart (π)', 5 / 4, { min: -2, max: 2, step: 1 / 8 });
+  const end = number('angleEnd (π)', -1 / 4, { min: -2, max: 2, step: 1 / 8 });
+  const base = number('base', 0);
+  const target = number('target', 260);
+  const actual = number('actual', 280);
+  const min = number('domain min', 0, { min: 0, step: 50 });
+  const max = number('domain max', 300, { min, step: 50 });
+  const autoTicks = boolean('auto generate ticks', true);
+  const ticks = autoTicks ? undefined : array('ticks', ['0', '100', '200', '300']).map(Number);
+  const autoBands = boolean('auto generate bands', true);
+  const bands = autoBands ? undefined : array('bands', ['200', '250', '300']).map(Number);
+
+  const angleStart = start * Math.PI;
+  const angleEnd = end * Math.PI;
+
+  return (
+    <Chart>
+      <Settings baseTheme={useBaseTheme()} />
+      <Goal
+        id="spec"
+        subtype={subtype}
+        base={base}
+        target={target}
+        actual={actual}
+        ticks={ticks}
+        bands={bands}
+        domain={{ min, max }}
+        angleStart={reverse ? angleEnd : angleStart}
+        angleEnd={reverse ? angleStart : angleEnd}
+        tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
+        labelMajor="Speed average"
+        labelMinor={subtype === GoalSubtype.Goal ? '' : `${actual} MB/s`}
+        centralMajor={`${actual} MB/s`}
+        centralMinor=""
+      />
+    </Chart>
+  );
+};
+
+Example.parameters = {
+  markdown: `Leaving \`ticks\` and/or \`bands\` as \`undefined\` will automatically generate linear values given the specified domain.
+If \`ticks\` and/or \`bands\` is set to \`[]\` (empty array), no ticks or bands will be displayed, respectively`,
+};
diff --git a/storybook/stories/goal/2_gauge_with_target.story.tsx b/storybook/stories/goal/2_gauge_with_target.story.tsx
index 745d304171..16d30d98e5 100644
--- a/storybook/stories/goal/2_gauge_with_target.story.tsx
+++ b/storybook/stories/goal/2_gauge_with_target.story.tsx
@@ -66,6 +66,7 @@ export const Example = () => {
         actual={actual}
         bands={bands}
         ticks={ticks}
+        domain={{ min: 0, max: 300 }}
         tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
         bandFillColor={useColors ? ({ value }: BandFillColorAccessorInput) => bandFillColor(value) : undefined}
         labelMajor="Revenue 2020 YTD  "
diff --git a/storybook/stories/goal/3_horizontal_bullet.story.tsx b/storybook/stories/goal/3_horizontal_bullet.story.tsx
index fc11ef1329..69382f66ed 100644
--- a/storybook/stories/goal/3_horizontal_bullet.story.tsx
+++ b/storybook/stories/goal/3_horizontal_bullet.story.tsx
@@ -38,6 +38,7 @@ export const Example = () => (
       base={0}
       target={260}
       actual={280}
+      domain={{ min: 0, max: 300 }}
       bands={[200, 250, 300]}
       ticks={[0, 50, 100, 150, 200, 250, 300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/4_vertical_bullet.story.tsx b/storybook/stories/goal/4_vertical_bullet.story.tsx
index e10a245089..ec633f6177 100644
--- a/storybook/stories/goal/4_vertical_bullet.story.tsx
+++ b/storybook/stories/goal/4_vertical_bullet.story.tsx
@@ -38,6 +38,7 @@ export const Example = () => (
       base={0}
       target={260}
       actual={280}
+      domain={{ min: 0, max: 300 }}
       bands={[200, 250, 300]}
       ticks={[0, 50, 100, 150, 200, 250, 300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/5_minimal.story.tsx b/storybook/stories/goal/5_minimal.story.tsx
index 0e4a67d189..bc64cc0a2d 100644
--- a/storybook/stories/goal/5_minimal.story.tsx
+++ b/storybook/stories/goal/5_minimal.story.tsx
@@ -39,6 +39,7 @@ export const Example = () => (
       base={0}
       target={260}
       actual={280}
+      domain={{ min: 0, max: 300 }}
       bands={[]}
       ticks={[0, 50, 100, 150, 200, 250, 300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/6_minimal_horizontal.story.tsx b/storybook/stories/goal/6_minimal_horizontal.story.tsx
index 50cd4ce1e7..3a9ec2df68 100644
--- a/storybook/stories/goal/6_minimal_horizontal.story.tsx
+++ b/storybook/stories/goal/6_minimal_horizontal.story.tsx
@@ -38,6 +38,7 @@ export const Example = () => (
       base={0}
       target={260}
       actual={280}
+      domain={{ min: 0, max: 300 }}
       bands={[300]}
       ticks={[0, 100, 200, 300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/7_horizontal_bar.story.tsx b/storybook/stories/goal/7_horizontal_bar.story.tsx
index 34df6e1a0d..febbacebf9 100644
--- a/storybook/stories/goal/7_horizontal_bar.story.tsx
+++ b/storybook/stories/goal/7_horizontal_bar.story.tsx
@@ -38,6 +38,7 @@ export const Example = () => (
       base={0}
       target={260}
       actual={280}
+      domain={{ min: 0, max: 300 }}
       bands={[]}
       ticks={[0, 100, 200, 300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/8_irregular_ticks.story.tsx b/storybook/stories/goal/8_irregular_ticks.story.tsx
index 48b6ae224e..da4511e1c8 100644
--- a/storybook/stories/goal/8_irregular_ticks.story.tsx
+++ b/storybook/stories/goal/8_irregular_ticks.story.tsx
@@ -34,6 +34,7 @@ export const Example = () => (
       base={0}
       target={260}
       actual={280}
+      domain={{ min: 0, max: 300 }}
       bands={[200, 250, 300]}
       ticks={[0, 100, 200, 250, 260, 270, 280, 290, 300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/9_minimal_band.story.tsx b/storybook/stories/goal/9_minimal_band.story.tsx
index a2867d18b0..adda20be2d 100644
--- a/storybook/stories/goal/9_minimal_band.story.tsx
+++ b/storybook/stories/goal/9_minimal_band.story.tsx
@@ -32,6 +32,7 @@ export const Example = () => (
       base={0}
       target={225}
       actual={0}
+      domain={{ min: 0, max: 300 }}
       bands={[300]}
       ticks={[0, 50, 100, 150, 200, 250, 300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}
diff --git a/storybook/stories/goal/goal.stories.tsx b/storybook/stories/goal/goal.stories.tsx
index 8489beca87..6b60179f27 100644
--- a/storybook/stories/goal/goal.stories.tsx
+++ b/storybook/stories/goal/goal.stories.tsx
@@ -37,3 +37,4 @@ export { Example as horizontalPlusMinus } from './22_horizontal_plusminus.story'
 export { Example as verticalPlusMinus } from './23_vertical_plusminus.story';
 export { Example as goalPlusMinus } from './24_goal_plusminus.story';
 export { Example as goalSemantics } from './25_goal_semantic.story';
+export { Example as autoLinearTicks } from './26_auto_linear_ticks.story';
diff --git a/storybook/stories/interactions/17_png_export.story.tsx b/storybook/stories/interactions/17_png_export.story.tsx
index ad25170f23..245aa2ef7c 100644
--- a/storybook/stories/interactions/17_png_export.story.tsx
+++ b/storybook/stories/interactions/17_png_export.story.tsx
@@ -145,6 +145,7 @@ function renderGoalchart() {
       base={0}
       target={260}
       actual={280}
+      domain={{ min: 0, max: 300 }}
       bands={[200, 250, 300]}
       ticks={[0, 50, 100, 150, 200, 250, 300]}
       tickValueFormatter={({ value }: BandFillColorAccessorInput) => String(value)}