By all accounts the life time warranty is worthless as they don't seem to be able to fix the lemons.
I think it's more a matter of them
not wanting to fix the lemons. One revolver I sent back because it had excessive head spacing between the cartridge and the recoil shield. So they moved the cylinder back. But when they did
that, the barrel/cylinder gap opened from a .007 to about a .012. Totally unacceptable. So they took it back a second time. When I got it back my b/c gap was .009 and my head spacing was .010. Again, not acceptable. Instead of just fixing the problem and bringing the whole gun into tolerance, they were just moving the cylinder back and forth.
Another time I got in three Taurus 66 .357 revolvers. All three were out of tolerance. Lockup was fine, polishing of the gun was flawless; everything was tight and otherwise fine. But when I checked the chambers of all three guns, none of them seemed to have any throats. Dropping wadcutter bullets through each chamber, they fell through every single one. (I used a different bullet for each chamber.) Normally, you'll find some jacketed bullets that will fall through, but wadcutters don't because they're slightly oversized.
None of the three revolvers would group worth a damn. The moral is, a gun can be tight and otherwise in tolerance and still be a lemon because of something most gun buyers don't try. (I have two Security-Sixes that catch jacketed bullets in all six chambers of each gun and I had two .38 Speed-Sixes rechambered for .357 and the gunsmith did such a great job throating them that they give superb accuracy.)
I agree to a certain extent you can get a good gun from Taurus, but I have no idea of their propensity to "shoot loose" because I've never owned a Taurus long enough to find out.