Eric,
Does your sequencer have MIDI in, for clock speed control? I use a Roland drum machine when I sync my Taurus, LP and JP-8000 together for arpeggios. The speed of all three synths can then be set with one control, stopping & starting, and speeding up and slowing together in sync.
As for Taurus loops getting stale or boring, try changing keys on the fly using the transpose function. Also, stopping and re-starting the arp at various points in the song helps break things up & keeps the song interesting. Another simple but effective tool is to keep the arp pattern fairly basic, while playing a more complex bass line over the top of that.
Good luck, and happy playing!