well, a race car designed to run between 7k-9.5k rpm isn't going to make good oil pressure at 2k, duh. Horrible comparison.
No, shifting at 2000rpm isn't going to hurt anything. Street cars are designed to have plenty of oil pressure at low RPM, because that is where they're designed to spend their time. I've had a few SBC's apart that I know I "lugged" the hell out of (4th gear off-idle acceleration, etc.) and there was no damage or abnormal wear to the bearings like all internet nimrods like to think there would be. Shift early, and enjoy your car lasting longer.
Less rpm = longer life.
Oops, got a little off-topic. No, it isn't going to hurt your stock, production-car transmission. Unless you stick a Big-block behind a 901 trans, no harm done.