Now thats a good example!
First, a little correction: you don't have to make a copy of the entire state. This video explains the trick on how to get immutable data structures that share most of their data with their previous version https://youtu.be/SiFwRtCnxv4?t=8m39s - list are straightforward, and vectors and maps are based on the same HAMT tree-like structure.
Of course, a system with real time constrains and hardware limitations will have different optimal solutions. And yes, reference counting is the bare minimum you'd probably like for these structures (GC is even better)
However, we're talking about Go here - a language designed for writing servers that has a GC.
The solution in Haskell is actually quite nice: MVars [1] plus immutable data structure. An MVar contains the current state, represented by one such structure. takeMVar "removes" the variable - a thing which can be done atomically by the updating thread when the data becomes stale. After that, subsequent attempts to readMVar from other threads would block until there is a new updated value, to ensure everything is in sync. Finally, the updating thread does a putMVar, and all readers get the new value and continue executing.
The best part is they don't have to worry that the updating thread might start another update in parallel while they read: the data structures are immutable so the value being read is guaranteed to remain immutable. Even if the updating thread continues "modifying" the new structure in the background, it doesn't have an effect on the other consumer's version.
But yeah, all this is pointless if you have realtime constraints and therefore need super-tight control over execution time. It might be doable in a fast reference counted language, but it will also be much harder to reason about the time it will take to release the memory for the segments that aren't in use anymore.
[1]: https://hackage.haskell.org/package/base-4.8.1.0/docs/Contro...