There are one more thing to complicate it all: different types of taur bodies can have different flexibility and limb length levels. Let's take classic centaur and chacat. Chacats have shorter legs and human body part (they are shorter than average humans) and are very flexible.
Sadly this information is useless in context of the game. All that matters is genital placement and body shape. Height is not a determining factor unless a writer wants to do that, and even then it's usually in context of bipedal stance (the front of a taur) like looking down or up at a character or tiptoeing/crouching for kiss, etc etc.