I want to have an arc at point A and B ,and two intersecting arcs at point D for the two parallel lines

It is hard to know what exactly you mean. I took your question to mean either "arc between two points" or "intersecting arcs of some arbitrary length" so I tried to give two different possible solutions using arc:

draw (D) arc (0:30:2);
draw (D) arc (0:-30:2);

draw (D) arc (-30:0:2);
draw (D) arc (-30:-60:2);

draw ($(B)$) arc  (0:180:2.5);

documentclass[tikz,border=20pt]{standalone}
usepackage{tkz-euclide}
usetikzlibrary{arrows.meta}

begin{document}
begin{tikzpicture}
%Definindo os vertices
%%The best way to define Axis is using polar notation:
tkzDefPoint(0,0){A} %The reference point
tkzDefShiftPoint[A](0:5){B}% POINT B 
tkzDefShiftPoint[A](40:4){C} %POIN D

%%Find point C colinear at D from AB
tkzDefPointWith[colinear= at C](A,B) tkzGetPoint{D} 


tkzDefPointWith[colinear= at D](C,B) tkzGetPoint{E} 


{%style only afects commands inside {}
    tikzset{line style/.append style={},>={Stealth[scale=2.2,inset=0pt,angle'=20]}} 
        tkzDrawLine[add=40pt and 40pt](A,B)
        tkzDrawLine[add=40pt and 40pt](D,C)
      
}

tkzDrawPoints[color=blue,fill=blue,size=6pt](A,B,C,D)
tkzLabelPoints[color=blue,below=5pt,inner sep=0](A,B,C,D)

tkzLabelPoint[anchor=south](A){$cap$}
tkzLabelPoint[anchor=south](B){$cap$}
tkzLabelPoint[anchor=south](D){$cap!!cap$}
end{tikzpicture}

end{document}