Utility
Neither the Ford Taurus nor the Toyota Avalon has a marked advantage when it comes to seating capacity.
Dimensions
The Ford is substantially more bulky than the Toyota Avalon.
The Avalon's tank is roughly the same size as the Ford Taurus's, though the Ford Taurus's is slightly bigger.
The Toyota Avalon and the Ford Taurus compete for the same parking spaces.
Convenience
You'll most certainly take the Taurus for a fill-up approximately as often as the Toyota.
Cost
The destination charge is a standard charge for transporting the vehicle from its point of origin to the dealer. It costs roughly the same to get the Toyota Avalon to the dealership as the Ford Taurus.
Regarding gas mileage, the Toyota Avalon is somewhat better than the Ford Taurus, but not by much.
There really isn't much of a difference in gas mileage here, but if you must know, the Toyota Avalon is somewhat more economical than the Ford Taurus.
With respect to MSRP, the Ford Taurus doesn't cost much less than the Avalon.
Handling
With their comparable turning radii, the Toyota Avalon and the Ford Taurus most certainly handle almost the same into and out of tight spots.
Drivetrain
The Toyota Avalon has no lessons to learn with respect to torque from the Ford Taurus.
Comfort
While the front cabin in the Ford Taurus offers a bit more head room than the Toyota, there frankly isn't much of a difference.
The Toyota Avalon provides more head- and leg-room to your passengers than the Taurus does.
Warranty
The Toyota and the Taurus have the same basic warranty.