One area I'd check into is if there's sufficient fuel getting to the engine.
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idle speed controll or tps throttle sensor
The idle speed is controlled by the computer ( PCM , Powertrain Control Module )
A very low idle can cause a 97 Ford Taurus to stall. Another reason for stalling may be transmission bands sticking, which does not allow the transmission to come out of gear on idle.
remove it from the engine
All Ford Taurus power steering systems take MERCON V Transmission Fluid.
When the oil light comes on when a 2002 Ford Taurus is idling it means there may be a problem with the oil pressure that needs to be checked.
It is located above the air filter intake opening
Idle control motor defective.
The 2011 Ford Taurus is 6 ft. 4.2 in. (76.2 in.)1 one-touch power windows wide.
The 2013 Ford Taurus is 6 ft. 4.2 in. (76.2 in.)1 one-touch power windows wide.
The 2003 Ford Taurus is 6 ft. 1 in. (73 in.)1 one-touch power windows wide.
The 2009 Ford Taurus is 6 ft. 2.5 in. (74.5 in.)1 one-touch power windows wide.