Catalyzes the transfer of sulfate to the C2-position of selected hexuronic acid residues within the maturing heparan sulfate (HS). 2-O-sulfation within HS, particularly of iduronate residues, is essential for HS to participate in a variety of high-affinity ligand-binding interactions and signaling processes. Mediates 2-O-sulfation of both L-iduronyl and D-glucuronyl residues (By similarity). Optimum pH is 5.5. Homotrimer. Interacts with the C5-epimerase GLCE (By similarity). N-glycosylated. Belongs to the sulfotransferase 3 family.