This is an interesting one. When you listen to Taurus then the first 3-4 guitar notes make you recognise the Stairway intro. Then the descending bass line keeps your feeling alive for 3-4 bars. The analysis makes it clear that the similarity between the two songs are based on commonplace details. More third party examples show you for how high extent these similarities are based on commonplaces. On the other hand an extrinsic test may surely jurors convince, they are similar. Even strikingly so for those 2-3 seconds. More details in my analysis.
My judgement: no infringement, not even inspiration.