Here's the story. Way back when (1970's I believe or early 80's), Beretta won the contract to supply 9mm handguns to the Brazilian military. The contract required that the guns had to be made in Brazil, so Beretta setup a manufacturing facility. Eventually, the contract was completed and Beretta no longer needed a manufacturing facility in Brazil so they sold the entire facility, including the manufacturing equipment, to Taurus. The sale also included an agreement that allows Taurus to manufacture model 92's and sell them under the Taurus name.
The current generation of Beretta 92's differ slightly from the Taurus 92's because each company has followed their own independent evolution paths in modifying the 92 over the years. For example, mags are not interchangeable because the location of the mag release button is different between them.
The fit and finish will usually be better on the Beretta models, but my dad has a stainless Taurus 92 and it's as reliable as any 9mm I've ever handled. That being said, I don't like the model 92 design and have never had any desire to own either the Taurus or Beretta version.