The way I understand it, every ROM has to have a launcher, so the devs have no choice here. Vanilla ICS on the Nexus, still has a "launcher", but it doesn't have a name like Go or Nova. Google just built it into the phone, so it's still a launcher. However, you can still load whichever launcher you want and use it instead of Go Launcher or Sense or any of them. And I agree with you; Go isn't my favorite, so I use ADW Launcher EX instead. Just install it, press the Home button, select the Launcher you downloaded, and check the box to make it the default. From then on, you won't even know that Go is on your phone.
Liquid just released his ICS build with almost everything working (no camcorder yet), and according to the preferences, he's using his own Launcher. I'd give this a try; it might be the closest we get to a Vanilla build. Check it out at xda.