I believe you are referring to your Door Mirror Puddle Lamps or Security Approach Lamps.
I don’t recall exactly what they looked like on a Taurus, however, if it is the bottom mounted mirror puddle lamp similar to the picture I have attached, AND if I recall correctly, that lamp assembly is removable, however, because it is a sealed unit you can’t replace just the bulb, you need to replace the entire lamp assembly.
If this, indeed, is the correct style Lamp Assembly for your Taurus, I wouldn’t think that it would be that difficult to replace.
I must apologize as I don’t rightly recall how that particular lamp assembly is removed and replaced – It looks pretty straight forward though and an educated guess would make me think that it is held in place by that black tab and that one could use a small/fine flat head screwdriver to very gently push inward on that black tab and then gently pull down on it to remove it. Then again I could be wrong…..
Perhaps another member more knowledgeable and familiar with Taurus’ will be better able to assist you.
It has been my experience with cars that it somehow seems to be that the smaller the part is the bigger the price is..... :yikes:
So although, there would be no way to test it for certain, you may want to make a trip to your local scrap/junk yard to see if you could possibly get one there after you get the price from Ford..... :yesnod: Just a thought....