Check the cooling system. 96 Tauruses had a HORRIBLE problem with bad water flow, which caused the coolant to get EXTREMELY brown, thereby causing many other problems. Ford had 2 different owner notification call-backs on it, but they don't fix the problem permanently unless the engine was replaced. We are seeing quite a few of them back now a couple of years after the program has expired.
The brown coolant problem wreaks havoc on the cooling system, causing many problems from water pumps to headgaskets.
They also had a few tranny problems (foward clutch piston related), but no more than any other year Taurus. Every year Taurus ever made has had some trans. problems (along with every other FWD, American made car).
If you don't have the coolant problem, the engine is very solid, and the car should last a few years.