I must ask: Is there a clear difference when someone says "tauri" or "taurii" (and all the other masculine plural nouns)?
Yes, there is. Noticeably, "tauri" has two syllables, while "taurii" has three. Here, I tried making my first forvo recordings. I think it's useful to see the contrast within a single speaker's pronunciation. Hope it helps (though I feel my voice is awful and I went through so many attempts that I got that feeling when a word doesn't mean anything to you):
Damn, i just forgot about the syllables. Bad thing that i have just seen them in my native language (Spanish). Need to study them further in order to understand better other languages.
Thank you very much dude, this explains a lot :D