The difference between the two here is that one uses the honorific -시- and the other one doesn't. Both are right, but you can use the honorific to someone who is older than you or is in a higher position than you. So for example your boss. Also you use honorific to people you don't know.
갔어요? - I would still use this to someone who is older than me, but I'm closer with.
가셨어요? - here I'm using the honorific and I would say this to someone i don't know or an older person etc
It varies from person to person when to use each one, but to be safe and not offend be polite and use it, until they say 편하게 할까요? shall we speak more comfortably, and you can be more casual with speak.