You will absolutely love the solution in the link below!

https://www.askmehelpdesk.com/cars-trucks/faq-how-troubleshoot-repair-maintain-hondas-selected-other-vehicles-46563-8.html#post1375876

Just used it to replace the plugs on my 2000 Duratec last week. Only use Motorcraft plugs in your Taurus--be sure to check the gap and apply dielectric grease to the porcelein/top electrode portion of the plug. I use a flux brush to apply a very light coating of anti-seize compound to the threads and tighten them to the low end of the torque range (86 in.-lbs.), since anti-seize is a lubricant and I don't want to strip the threads in the aluminum head.

An alternative approach is, while the car is in park and the emergency brake is off, rock the car back and forth and, while it's in the forward position, jam on the emergency brake. This will rotate the engine forwards and increase the space between the engine and the firewall.