Solution
First, list the HW wallet name:
goal wallet list -d /var/lib/algorand##################################################
Wallet: Ledger Nano S (serial 0001) (default)
ID: 0001:0009:00
##################################################
Then specify the HW wallet name in goal clerk send, and also set note to empty string:
goal clerk send -a (amount) -f (HW_wallet_addres) -t (destination_address) -w "Ledger Nano S (serial 0001)" -n "" -d /var/lib/algorand
Before sending the command, check that the Nano-S is active (i.e. not in screensaver mode “Wires in numeris”).
After sending the command, check the tx details. These are displayed on the Nano-S. Push the right button to go on (sometimes it must be pressed twice to go on.)
If everything is correct, sign the tx on the Nano-S.