Most notetaking apps have two modes – a “write” mode and a “read” mode. Hyperlinks work while you are on the “read” mode.
To click on hyperlinks on Goodnotes 5 (or other notetaking apps), you will need to make sure that your app is on “read” mode. You can toggle between “write” and “read” mode on Goodnotes 5 by tapping the pencil icon on the upper right side of the Goodnotes toolbar.