Try to find one of each to handle and perhaps shoot. See which balances better for you. The 6" isn't a terrible burden in home defense. I would only pack one that long if I were hunting with it, but that's me. People do it all the time.
For packing around on a regular basis, 4" is about as long as I'll go. I have a S&W M&P revolver (later got named the model 10) that is a 4", and I've had a couple of others. They are great, and will serve you well. I also have a 3" Model 13 (.357), and it is just a neat, neat gun. I would not tell you not to get a .357, but if you do, you'll probably not want to load it with the heavy hitters in your house. Just some simple, basic 158 gr lead semiwadcutter hollow points in .38 Special will do fine.
That being said, a trade-in model 10 or 64 (blued or stainless, take your pick) would be what I would get over any Taurus, or over any other less expensive brand. They are selling for a LOT new, and they are still making them after over 100 years in production. That should tell you something about those guns! One of the best designs ever.