There are improvements from the TL-2000 to the TL-2010.. the 2010 has speed control, a sub-tension and I believe it comes with both a 1/4" and 1/5" quilting foot. Both machines get wonderful reviews.. Then there's the new and improved TL-2200qvp mini that comes with several add'l feet including a walking foot..
Can't go wrong with any of them!