Caveat: I have never owned a Taurus...
Rest of the Post: I have approximately 2 friends I know of that have purchased Taurus firearms, and I have shot them.
One was a PT 140 Millennium Pro. The owner had 2' sized groups at 7 yards and wanted to know what was up. I shot it, had a similar experience, and proceeded to check a couple of things. The rear sight could be slid back and forth with finger pressure. So we adjusted sight and tightened the set screw... which couldn't tighten. I turns out the threads were good on the sight, not the screw. I found a set screw that would work at a hardware store, cut it to length, and cleaned the threads with my die set. He was happy and it worked (to this day, as far as I know). He was happy to buy a $.60 screw and offer me a couple of beers as opposed to the warranty wait. This was in 2009 or so, and as far as I know that pistol was otherwise good.
Another friend has a PT709 that has been pretty good, despite the fact that I find the trigger pretty horrid. I'm sure there's worse out there, but it's pretty bad.
Other friends, whose pistol I haven't fired and touched, have various reviews both good and bad. Admittedly, no one has used their customer service. Most folks in my circle opt to fix the firearm on their own. To be fair it's usually stupid stuff, like a defective spring that breaks right away or an over-soft rear sight set screw.
In contrast, I've seen a Ruger LC9 with a chamber so rough that any fired round had to be pushed (mostly beaten out) out from the muzzle with a cleaning rod. So yeah, I acknowledge anyone can have their issues. Yes Ruger did fix it, less than 2 week turnaround.