I have a 92 Taurus with about 190,000 miles on it (bought it brand new). It had no major problems until around the 110,000 mile mark. Of the problems it has had since then the transmission has been the worst and fixed twice. Bear in mind though that I do probably 90% highway/10% City driving. The City driving is in Boston, rough stop and go and quick speed changes.
I'll also add that this Taurus took two accidents well. The first was when it's front end was hit by another car. I was left with a scratch on the bumper while the woman who drove into my front end had a huge dent from front to rear doors. The worst crash was one when I was rearended. Yes the car had a smashed trunk but I wasn't seriously hurt (did have a stiff sore neck a few days). It's safety record held up and was true in my experiences. It's one huge reason why I considered the car in the first place. I love great looking cars but safety is too important to compromise on.
I'd consider a Taurus again if the transmission issues are better. Being in the market for a new car the one that tops my list in the mid-sized category is the Camry. Back in 92 it was down to the Taurus or Camry also.