There should be tab auto-completion for most commands in td. Here is a high-level (possibly incomplete) list of commands and their completion targets:
start, show, focus, handoff, review, done, close, log, link, block, approve, defer, unstart: issue-id
list: --type, --label, --status
create: --parent, --epic, --type
link: target-id
block: blocked-by
config: key
board: board-name
I could have a dig at it if this hasn't been done yet!