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Velzey is correct, I can't even get Taurus to send parts to my shop and I'm a dealer. Any work done it will void the warranty and will cost you for Taurus to put it back in "warranty condition". I would send it back to them.
On most other revolvers, you purchase an over-sized "Hand" and then file it down until the cylinder to bore timing lines up.
All bets are off with Taurus parts.
The timing is the correct alignment of the chamber with the barrel, Your problem could be the hand (or pawl) or the spur gear on the back of the cylinder. If these parts get too far worn, they will not rotate the cylinder enough for it to lock up with the notch in the cylinder & the cylinder bolt stop.
The problem could also be the bolt stop, not likely but it could be undersized, broken or the slot as become loose do to poor machining or heat treating.
Taurus has a lifetime warranty, I would send to them
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