Fortunately somebody else asked that question already, and the answer in this article matches other stories elsewhere.
Apparently the NYT report about sharpened screwdrivers was wrong--they had some for a planned theft, but not sharpened. And the claim that they were innocent panhandlers was contradicted by one of the four, who said they thought he was easy prey. And the attitude of Ramseur at the trial was so nasty that his testimony was stricken, and some think that Goetz was acquitted of most charges because of Ramseur. And though Goetz shot 5 times, one bullet missed, which was the basis for a reckless endangerment charge.
Cabey was partly paralyzed and possibly brain damaged--his family won a $43M judgment against Goetz which they have yet to collect. Ramseur went to prison for 25 years for a vicious rape, and apparently killed himself a year after getting out (on the anniversary of the shooting). Allen went to prison for a couple of robberies, and there's nothing that comes up since 1995. Canty indulged in a number of minor offenses, and was arrested but not charged for robbery and assault of his common-law wife in 1996.
I assume that Allen and Canty are still alive--either's death would be an instant and easy news story, and I didn't find one. If so, the 20 years since the last reported interaction with the law is a good sign.