Let's clarify some terminology first. When the FSF says a license is compatible with the GPL they don't mean what many people interpret that to mean. Many interpret "compatible" to mean the two pieces of software can happily co-exist in the same application.
That's close to what the FSF means, but the copyleft provision of the GPL takes things a little bit further.
From the GPL FAQ, emphasis mine.
It means that the other license and the GNU GPL are compatible; you can combine code released under the other license with code released under the GNU GPL in one larger program.
All GNU GPL versions permit such combinations privately; they also permit distribution of such combinations provided the combination is released under the same GNU GPL version.
So a license is compatible with the GPL if its terms can be absorbed underneath the GPL.
So let's look at the APLv2 and the GPLv3.
- APLv2_Lib + GPLv3_Lib => Combined lib as GPLv3 is okay.
- APLv2_Lib + GPLv3_Lib => Combined lib as APLv2 is not okay.
And Apache says as much here:
We avoid GPLv3 software because merely linking to it is considered by the GPLv3 authors to create a derivative work. We want to honor their license.
But you're working with a daemon that was licensed under GPLv2, not v3.
FSF is pretty clear that what you want to do is not acceptable for a public distribution.
Please note that this license is not compatible with GPL version 2, because it has some requirements that are not in that GPL version. These include certain patent termination and indemnification provisions.
So, to answer your question:
No, you may not distribute the combined daemon using GPLv2 and APLv2 licensed material.
FSF explicitly calls out that combination as not allowable for public distribution.
You are allowed to use it privately.
You would also be okay to re-write the APLv2 functionality and then combine your new work with the GPLv2 work.
You could see if the daemon can be changed to GPLv3. If so, you would then be in the clear to merge the APLv2 work into the now GPLv3 daemon.