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Sorry about the "mechanic's assistant"- it's a robot and sometimes "her" responses don't make any sense.
So to clarify, he has it in "2" and is driving around everywhere in 2 rather than "D"?
It's not likely to cause transmission problems, but it will definitely make the fuel economy suffer if the transmission isn't being allowed to shift into the correct gears. I've never actually seen someone do that before on a 2015 tacoms, so it's hard to say what the long-term affect might be. Doesn't the truck seem to run poorly like that?
Oh ok. How long was it driven in 2?
It could have damaged the engine if he kept pushing it. It would be running at a really high RPM and either over-rev or over-heat or both. Did the mechanic say what is wrong?