CDG to TGV: Is two hours enough time from Terminal 2E with only carry on bags?

You should be fine assuming no horrible delays with arrival time or passport control. You can't plan for every eventuality but it's only about a 10-12 minute walk so unless something crazy happens, you should be fine.

Usual advice is 3 hours, but with carry-on you do save a bit of time (luggage delivery is slow at CDG). How late is the next train? If you have the choice between 2 hours and 4 hours wait, I would pick 4 hours. But if you'd have to wait, say, 6 hours, I'd try my luck with the 2 hour wait. I'd say there's a 90-95% chance to make it (higher still if you have an EU passport).

A landing giving you a two hour window is more than enough. You can make it with much less time.

Edit: I’ve made it with much less time.

Nope.

Arrived at CDG last week. Clearing immigration took over an hour. And we were in a shorter line because I have status with Delta. Our luggage was waiting on us, but you would still have to walk to the train. I’d want more time.

I would do it. I have done it but years ago. My plane landed at CDG and I was like the 3rd person off the plane and rushed down to immigration with my carry-on bags...and there was NO ONE waiting at immigration! I was first. (Someone has to be first!). That rarely happens, I know - expect a line. I made it to the CDG train station with more than enough time.

Of course, the plane could be late, really late - so you have to ask what happens if you miss the train? Is there a later train? How much will it cost? Can you change your ticket and how? Ask yourself those questions now, rather than after you land and miss the train, so at least you are prepared with a back-up plan.

The next train is at 2:30, and is a longer trip with a train change. I read somewhere about ticket insurance which was pretty inexpensive so maybe that could be my backup? This is all new to me so I appreciate all of your input!

Some train tickets allow a change - for free or maybe for a fee. You probably have to change before your original train departs. I don't know if you can do it online these days. Your best bet though is buying the tickets directly through SNCF not through some third party seller of train tickets.

I paid €6 for two people for train insurance from CDG to Lyon.

Train ticket insurance won't cover you for an incoming flight delay.
However, if you book refundable TGV Inoui tickets, the penalty to cancel or reschedule last-minute is 19€ + fare difference if you reschedule. So you don't lose the entire ticket price, as long as you're able to go online and cancel before the scheduled departure time.