I no longer have a Phatty, but have a set of Taurus III pedals and a Minitaur.
I had my LP Tribute modified by Moog to add the CV Out. It was very handy for modular control meaning that I used it to play and modulate my modular regularly.
Since the Minitaur, much like the Slim Phatty does not have a keyboard, there is really no use for it to have CV out, except perhaps to ‘send’ envelopes and the Modulation output. For Pitch and Gate, Steve’s comment about getting a Midi->CV converter is the right answer.
As for differences between the two, may have already been stated but I’ll add the following:
Oscillator:
Taurus is a Sawtooth beast, but the Minitaur added a fixed pulse width waveform (aka Square wave) for a more varied sonic palette so you have a choice of two. But it’s an either or choice (hard switched) The Phatty family has general purpose OSCs which have other choices and they can be morphed from sine/triangle’ish through pulse width. With an LFO modulating this, you can affect pulse width modulation or any waveform modulation. Minitaur, due to the volt/Hz. architecture and the range of the power supply was designed to only play lower frequencies so at a certain point, the OSCs cease to play higher notes. Fine for bass pedals or left hand playing but not general purpose.
[going from memory here] Phatty only has 2nd OSC frequency for detuning; so you can set your 2nd oscillator to be a musical fifth up from the fundamental oscillator and play anywhere across the keyboard range and it will be musically proper.
Minitaur can do this also but adds a BEAT frequency parameter, which on earlier firmware could only be modified from the App. More recent firmware versions now have a way to shift the panel to control the BEATing. The BEAT parameter stays constant across the keyboard range so if your OSCs are beating a 4 Hz. (four times a second), it will continue to do so whichever note is played. 2nd OSC detuning, on the other hand will double every octave just as the primary frequency does. So detuning of 4 Hz. played an octave higher will still ‘beat’ but at 8 Hz. So OSC 1 may be 440 Hz. and OSC may be 444 Hz., but an octave higher, OSC 1 is 880 Hz. and OSC 2 is 888 Hz. the difference being 8 time a second you can hear (and see on scope) the OSC pulsing. Great for conventional musical detuning, in fact, it’s necessary; but not ideal for low bass rumble. If you are familiar with the Minimoog/Voyager, you can see the same sort of feature in Oscillator 3 which can be disconnected from the keyboard and beat at a fixed frequency regardless of key pressed.
Envelopes:
Steve is right, there is a shift button sequence you can use from the panel of the Minitaur to dual purpose the Decay knob for a true four stage envelope which is more like the modern Moog synths. Taurus III, Taurus, and Minimoog for that matter had a different envelope/contour generator.
LFO:
Minitaur only has a single waveform, where Taurus III has a many choices to choose from as does Slim Phatty. Minitaur does have one advantage since you can bind the LFO to both LFO and VCO, different amounts, simultaneously. The Phatty engine (Little/Slim generation) can only route LFO to a single destination because there was only one Mod bus and no multi-dest capabilities; But both have CV Input jacks which let you independently modulate pitch, filter, and volume for that matter assuming you have external modulation sources.
There are of course, more differences but these are a few of the biggest in terms of synth architecture. If you are already accustomed to playing Bass pedals then get a used Minitaur and see how it suits you? If you really want room shaking bass, it will deliver. What it will not do, out of the box, is make any sound without another controller… but if you have a CP-251, you can send it a pulse wave (trigger) via LFO and go crazy from there.
If you want a small keyboard and a general purpose Phatty type synth, maybe consider a Sub Phatty, you should be able to get one of these cheap these days.
If you are interested in the Sub37, well then, you are back to a full size Phatty footprint again, lots of $$ and maybe you ARE a keyboard player 
FWIW, I owned the MPK25, the Novation SL 25 MK II (both bought specifically to play and tweak the Taurus III with and both are fine but these days, you might be best with something with a synth engine built in that is also 2 Octaves. Note that some of the other, dare I say non-moog options, will give you some CV out capabilities and some Arpeggiator/Seq control. I know know thing more about the synth engines than you can read on the spec sheet but the Brute series looks pretty capable and has some CV output.