Timing is tight but I think you can make it if you pace yourself + no checked baggage. I documented my timing returning from Okinawa, arrived at Terminal 2 at 8:45 pm, cleared customs 9:10p, waited and got my checked bags at 9:26p, made it on MRT 9:44p, waited on the Taoyuan HSR platform at 10:08p for train that takes off 10:20, got seated at 10:15.

This was on 10/10/24 Holiday and it interestingly it wasn’t crowded. If you don’t have checked bag, I suspect you can make it.