I'd bet the farm that you have one of two problems.
Either case, the dash has got to come out to fix. How big is the job? For somebody like me who has removed hundreds of those dashes, I can have it out in 45 minutes. Somebody who has never had one out, it could take all day.
Here is something you may want to know to help you figure out what is wrong. There is not just one temp blend door in the box, but there are two that work together. One of them is called a secondary stratification door. Ford has had so much trouble with that secondary door warping and binding against the other door, causing heat and AC problems, that they have revised a new door to replace the old one. The part number is 3F1Z-19D842-AA just in case you get somebody at the Ford parts counter who doesn't have a clue.
I had this exact problem on my 1996 Taurus. The solution in my case was to replace the transmission range sensor. I replaced it myself. It was easy to change. I can't say if that is what is wrong with your Taurus, but it was what was wrong with mine. Good Luck! This was also the problem with my '96 Taurus... part was also refferd to a Nuetral Safty Switch"
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