We propose a theoretical framework for generating gapless topological superconductivity (GTSC) hosting Majorana flat edge modes (MFEMs) in the presence of a two-dimensional (2D) array of magnetic adatoms with noncollinear spin texture deposited on top of an unconventional superconductor. Our observations reveal two distinct topological phase transitions within the emergent Shiba band depending on the exchange coupling strength (J) between magnetic adatom spins and superconducting electrons: the first one designates transition from gapless non-topological to gapless topological phase at lower J, while the second one denotes transition from gapless topological to a trivial gapped superconducting phase at higher J. The gapless topological superconducting phase survives at intermediate values of J, hosting MFEMs. Furthermore, we investigate the nature of the bulk effective pairings, which indicate that GTSC appears due to the interplay between pseudo “s-wave” and pseudo “px+py” types of pairing. Consequently, our study opens a promising avenue for the experimental realization of GTSC in 2D Shiba lattice based on d-wave superconductors as a high-temperature platform.