The last question in the FAQ makes it clear that this can only be used in the context of their account-based online tool. Their free offering literally says "3 diagrams". Above this, the FAQ tries to compare their tool to Mermaid, Graphviz, PlantUML which are all open source, locally runnable, etc. Their comparison totally skips the fact that, because D2 can only be used in their service, a broad number of use cases…
When I want to make diagrams graphically, I use diagrams.net. when I want to make diagrams from code, I use PIC. What else do people use? PIC works pretty well, but it has its limits and it's ancient.