I owned a 1994 SHO 5-speed for a couple years. Very fun (but very buggy) car. The 1996 ~ 1999 redesign was a couple steps backwards, but the 2000-onward design changes were not at all bad.
I'll never figure out Ford's thinking on the Taurus. It was their NASCAR platform for crying out loud, but Ford seemed content to offer it only in commuter, rental, and senior citizen styling. Way too conservative and plain. The 2000 and later Taurus SE actually had a lot of potential if Ford had put together an upscale package with more aggressive exterior styling accents, a new 5-speed manual gearbox, and a decent handling package. Even the SHO was outwardly just an SE with better wheel treatment, unlike the early 90s SHO.
Many lost opportunities to capitalize from and re-invent the once-respected nameplate.