The situation you describe has not only translational & rotational symmetry but parity symmetry as well, which allows us to rule out a tangential (or longitudinal) component of $\vec{D}$. A completely arbitrary vector field $\vec{D}$ in cylindrical coordinates can be written as
$$
\vec{D} = D_r(r,\theta,z) \hat{r} + D_\theta(r,\theta,z) \hat{\theta} + D_z(r,\theta,z) \hat{z}.
$$
If the sources and media are invariant under cylindrical symmetry, we can argue that the components cannot depend on certain variables, and that some of them are zero:
- Since the sources & media remain the same under a translation $z \to z + a$ for any $a$, none of the components can depend on $z$:
$$
\vec{D} = D_r(r,\theta) \hat{r} + D_\theta(r,\theta) \hat{\theta} + D_z(r,\theta) \hat{z}.
$$
- Since the sources & media remain the same under a rotation $\theta \to \theta + a$ for any $a$, none of the components can depend on $\theta$:
$$
\vec{D} = D_r(r) \hat{r} + D_\theta(r) \hat{\theta} + D_z(r) \hat{z}.
$$
This much you had already figured out; including parity is what allows us to rule out a non-zero $D_\theta$ and $D_z$. Under reflection about the $xy$-plane, the source stays the same but $D_z \to - D_z$; thus, we must have $D_z(r) = - D_z(r) = 0$. Similarly, if we reflect about any plane containing the $z$-axis, the source remains the same but $D_\theta \to - D_\theta$, and thus $D_\theta(r) = - D_\theta(r) = 0$ as well. Thus, the only possible form for $\vec{D}$ can be
$$
\vec{D} = D_r(r) \hat{r}
$$
and from this assumption we can apply Gauss's Law to $\vec{D}$.
As you can see, the whole argument is somewhat subtle. It's also not necessary to invoke parity symmetry to apply Gauss's Law in the case of spherical symmetry, and it's a lot more obvious that you need to invoke it in the case of planar symmetry (to argue that $\vec{D}(z) = - \vec{D}(-z)$.) This is why the role of parity is usually elided in most undergraduate electromagnetism courses & texts, in favor of a statement to the effect that "it's obvious that the field must be radial".