<?xml version="1.0"?>
<ownershipDocument>

    <schemaVersion>X0306</schemaVersion>

    <documentType>4/A</documentType>

    <periodOfReport>2021-04-15</periodOfReport>

    <dateOfOriginalSubmission>2021-04-19</dateOfOriginalSubmission>

    <notSubjectToSection16>0</notSubjectToSection16>

    <issuer>
        <issuerCik>0001719395</issuerCik>
        <issuerName>Eargo, Inc.</issuerName>
        <issuerTradingSymbol>EAR</issuerTradingSymbol>
    </issuer>

    <reportingOwner>
        <reportingOwnerId>
            <rptOwnerCik>0001420106</rptOwnerCik>
            <rptOwnerName>Gilde Healthcare Holding B.V.</rptOwnerName>
        </reportingOwnerId>
        <reportingOwnerAddress>
            <rptOwnerStreet1>C/O GILDE HEALTHCARE PARTNERS</rptOwnerStreet1>
            <rptOwnerStreet2>222 THIRD STREET, SUITE 1321</rptOwnerStreet2>
            <rptOwnerCity>CAMBRIDGE</rptOwnerCity>
            <rptOwnerState>MA</rptOwnerState>
            <rptOwnerZipCode>02142</rptOwnerZipCode>
            <rptOwnerStateDescription></rptOwnerStateDescription>
        </reportingOwnerAddress>
        <reportingOwnerRelationship>
            <isDirector>0</isDirector>
            <isOfficer>0</isOfficer>
            <isTenPercentOwner>1</isTenPercentOwner>
            <isOther>0</isOther>
        </reportingOwnerRelationship>
    </reportingOwner>

    <nonDerivativeTable>
        <nonDerivativeHolding>
            <securityTitle>
                <value>Common Stock</value>
            </securityTitle>
            <postTransactionAmounts>
                <sharesOwnedFollowingTransaction>
                    <value>3918691</value>
                    <footnoteId id="F1"/>
                </sharesOwnedFollowingTransaction>
            </postTransactionAmounts>
            <ownershipNature>
                <directOrIndirectOwnership>
                    <value>I</value>
                </directOrIndirectOwnership>
                <natureOfOwnership>
                    <value>See footnote</value>
                    <footnoteId id="F2"/>
                </natureOfOwnership>
            </ownershipNature>
        </nonDerivativeHolding>
    </nonDerivativeTable>

    <footnotes>
        <footnote id="F1">On April 19, 2021, the reporting persons filed a Form 4 reporting sales of 19,017 shares of common stock pursuant to a 10b5-1 plan that did not in fact occur. As of April 15, 2021 and April 16, 2021, the reporting persons indirectly beneficially owned 3,918,691 shares of common stock.</footnote>
        <footnote id="F2">These shares are held directly by Cooperatieve Gilde Healthcare V U.A. (&quot;Gilde&quot;). Gilde is managed by Gilde Healthcare V Management B.V. (&quot;Management&quot;). Management is owned by Gilde Healthcare Holding B.V. (&quot;Holding&quot;). Each of Management and Holding may be deemed to have voting, investment and dispositive power with respect to the securities held by Gilde. Each of Management and Holding disclaims beneficial ownership of these securities and this report shall not be deemed an admission that any of them is the beneficial owner of such securities, except to the extent of their respective pecuniary interests therein.</footnote>
    </footnotes>

    <remarks></remarks>

    <ownerSignature>
        <signatureName>Cooperatieve Gilde Healthcare V U.A., By: /s/ Marc Perret, Name: Marc Perret, Title: Managing Director</signatureName>
        <signatureDate>2021-04-20</signatureDate>
    </ownerSignature>

    <ownerSignature>
        <signatureName>Gilde Healthcare V Management B.V., By: /s/ Marc Perret, Name: Marc Perret, Title: Managing Director</signatureName>
        <signatureDate>2021-04-20</signatureDate>
    </ownerSignature>

    <ownerSignature>
        <signatureName>Gilde Healthcare Holding B.V., By: /s/ Marc Perret, Name: Marc Perret, Title: Managing Director</signatureName>
        <signatureDate>2021-04-20</signatureDate>
    </ownerSignature>
</ownershipDocument>
