The only time I had trouble picking up the gold was when there were 5 pieces layered underneath the floorboard. I normally just press down L3, then use left directional pad on PS5 until it selects the correct item. Usually this allows me to pick the gold up. If you have a character with Mage Hand, they might also be able to grab the gold and throw it to an easier spot for you to pick up.
All of this gold is on the floor and not buried under anything, so it's not one of those "can't reach" situations.
I've moved the gold, but it still can't be picked up into inventory.
