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Hm. Well, after a quick bit of searching, the Taurus has a 3.0L V6. It's rated at 155HP, 185 ft/lb. The car weighs 3300 pounds, which is about on par with a G2. Erm, I forget what the Type 1 is rated at for torque, but with 200HP under the hood and similar weight, I think you hold the advantage at the drag strip, especially if you're rocking a 5-speed. If you've got an auto you should do alright as well... I'm assuming the Taurus is an auto, as well.
If you two're taking your cars to a road course or an autocross event, I would put my money down on the Legend, as well. You probably have an edge on suspension and braking ability as well. That's just my opinion of course, and I'd wait for others to chime in but I don't think you'll have too too much of a problem.
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