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Funny you should ask this, I am actually trying to write an evaluation paper at the moment. The default local planner presented to you in the navigation stack is the Dynamic Window Approach (and Trajectory Rollout). The default global planner can be specified as many (including D* as you wrote). Personally, for autonomous vehicles, I prefer using Timed Elastic Band as my local planner. There are a plethora of planners out there that you can search through and evaluate.
As for your comments on RVIZ and Gazebo, these are just tools. RVIZ is a visualization tool and Gazebo is a simulation tool. The 2D nav goal you mentioned is just a graphical way for you to publish a geometry_msgs/PoseStamped message on topic /move_base_simple/goal. Without an implementation of the aforementioned navigation stack, your robot won't move anywhere.
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