Sounds like your brakes need attention.
The important question isn't how long it will run, but how long it will stop. If you don't see a mechanic soon, make an appointment with your lawyer to bring your will up to date.
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(another opinion)
The answer depends entirely on what is causing the noise. It could something that will stop your engine in a short time or maybe even lose control of the car. Or it could just be something rattling that would only be an annoyance. You need to have a competent mechanic check it out and find out what is causing the noise as soon as possible.
The 1996 Ford Taurus sedan is approximately ( 197.5 inches long )
The 2004 Ford Taurus is 16 ft. 5.6 in. (197.6 in.) long.
The 2013 Ford Taurus is 16 ft. 10.9 in. (202.9 in.) long.
The 2001 Ford Taurus is 16 ft. 5.6 in. (197.6 in.) long.
The 2003 Ford Taurus is 16 ft. 5.6 in. (197.6 in.) long.
The 2010 Ford Taurus is 16 ft. 10.9 in. (202.9 in.) long.
The 2014 Ford Taurus is 16 ft. 10.9 in. (202.9 in.) long.
The 2006 Ford Taurus is 16 ft. 5.6 in. (197.6 in.) long.
The 2012 Ford Taurus is 16 ft. 10.9 in. (202.9 in.) long.
The 2002 Ford Taurus is 16 ft. 5.6 in. (197.6 in.) long.
The 2008 Ford Taurus is 16 ft. 9.8 in. (201.8 in.) long.
The 2009 Ford Taurus is 16 ft. 9.8 in. (201.8 in.) long.