I have no idea what he meant. A floating firing pin simply means that the firing pin is not fixed to the hammer as in a revolver. The firing pin has to come through the firing pin hole in the slide; there is no way it can be "pushed" off center by dirt or anything else.
The most common cause of off-center strikes in a dropping barrel auto pistol is that the barrel is not going into battery properly, so the strike is high or low, not off to the side. You can find out by using a magic marker to mark a case on one side, then chamber the round by hand, making sure the mark is up. Then examine the fired case and see if the firing pin indent is high or low.
Either way, the problem is in the gun itself and the way it is made; there is no practical way you can correct it, and the only real option is to return the gun to the manufacturer. (Taurus has always had QC problems, and this sounds like one of them.)
Now, on the practical side, an off-center firing pin strike makes no difference unless it is far enough off to cause misfires, which is the case you have. If it did not, then it might not be worth worrying about. In any case, there is nothing you can do to change it by removing the firing pin.
Jim