You wrap the body in a carpet and put it in the car, preferably the judge's car. Wear gloves (fingerprints). In the dark, nobody will notice that it's not the judge driving the car. Drive up to a remote forested area, and dump the body in the woods. Even better, if the judge has a cottage, take the body there and dump him on the porch or front steps. Leave the judge's car parked neatly in the driveway. Meanwhile, Barb can follow in another car - don't drive the car onto the Judge's cottage property (don't want tire tracks). With luck, it'll take weeks for the body to be found, and when they do an autopsy, all they'll find is that the judge had a heart attack during sex at the cottage. Meanwhile, Goldman trots back through the woods to the road and Barb drives back to town, preferably before dawn. Dump the carpet in a dumpster or landfill somewhere along the way, some miles away from the judge's cottage. Easy.
I think the flaw in this plan is assigning the driving to me ... ask Tree, if you don’t believe it’s a flaw.