Galileo was correct for the time and the state of scientific knowledge at the time. But that was 200 years or more before Doppler and his experiments.
But what Galileo said was that two observers moving relative to each other would get the same experimental results as each other *in their respective frames of reference*.
You are carrying this further to compare results between *different* frames of reference. That is not what Galileo said.
There isn't enough space to go into details here. You can find more than enough with a simple search on the internet. But you are talking about observations made by someone in a different frame of reference to that of the sound emitter. In fact, since sound requires some sort of medium to propogate in, there is a third potential frame of reference to consider - that of the air through which it travels.
It is an undisputed fact that the stationary obvserver hears a frequency which is different from that emitted by the moving source. But, once corrected for the observed motion of the source, the stationary observer will be able to accurately determine the frequency of the source, and it will agree with the frequency determined by someone travelling with the source. In other words, observations made in the different frames of reference CAN agree on the results, although the two sets of observations can be different. But, again, this is not what Galileo was talking about.