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My vote would go to the XD. I have a couple in 9 and 40 S&W and they are excellent guns. The Ruger would be second choice because they are very reliable guns, they're just pigs in the ergonomics department. Your results might vary. The Taurus? Phoooey on 'em. Haven't handled or shot one yet that impresses me. I'd do without it.
My .02
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