I have always wondered if the Taurus would've been allowed to evolve if it would've remained competitive at the retail level. It seems Ford never took an attitude of continual improvement with it. Once the '96 redesign failed, it seemed Ford was willing to just let it go with minimal updates. As evidenced by many on these boards, there were transmission issues as well as others that were not addressed, probably pissing off quite a few customers and sending them running to other showrooms.
That said, i think the 99+ (I think?) redesign is quite handsome. I kept waiting for better engine/transmission choices, but that obviously wasn't in the cards. Having driven many, i thought it was a good car.