My husband thinks our daughter doesn’t listen but I wonder how much is expected of a 2 year old?

For example, at a Trunk or Treat event last night she would run off if we weren’t holding her hand. When she began to run my husband would say “stop” but she kept running. He thinks she is a bad listener or defiant. He gets really upset when she doesn’t listen but I wonder if we should be expecting a just turned 2 year old to follow our every command.