Functions like get_cat_ID and get_category_by_slug only work for core post categories (taxonomy category) – you are dealing with a custom taxonomy todocategories.
I see you have $a2zq3_cat_name="Category-name"; hardcoded near the top, so I assume you’re not assigning the todocategories from POST data.
In which case just use wp_set_object_terms() like so.
wp_set_object_terms( $a2z3_entry_post_id, [ 'the-category-slug' ], 'todocategories' );
… where the-category-slug is the slug of the todo category you’re trying to assign.
Always make sure to check the documentation for WordPress functions before you try using them.