For the Tauros, I have an idea, if third party is no issue for you: The Instigator from Anvil Industry. From what I hear, it should have the perfect size for a Tauros (though it might be a tad bit too small for a Venator, though). Plus, I absolutely can't recommend Anvil Industry stuff enough, absolute stellar quality.
http://anvilindustry.co.uk/AFTERLIFE/Republic/Mk4-Instigator