I found a few papers about the function/concentration/localization of taurine/hypotaurine in the male reproductive system of various species:
The taurine and hypotaurine content of human semen:
Hypotaurine, an antioxidant, may play an important role in protecting sperm from reactive oxygen species.
Protective effect of taurine from osmotic stress on chimpanzee spermatozoa:
These results suggest that taurine plays an osmoregulatory role in chimpanzee spermatozoa, which possibly involves stabilization of the cell membrane.
Taurine maintains and stimulates motility of hamster sperm during capacitation in vitro:
These results suggest that in addition to its importance for motility taurine might stimulate capacitation. The mechanism through which taurine supports and stimulates motility is not yet known, but its use results in the first relatively “defined” in vitro capacitation medium for hamster sperm.
Hypotaurine in spermatozoa and genital secretions and its production by oviduct epithelial cells in vitro:
Taurine and/or hypotaurine are necessary compounds for sperm capacitation, fertilization and embryo development. Hypotaurine has a protective role against peroxidative damage... Hypotaurine and taurine were quantified in spermatozoa and seminal and tubal fluid of various species, and in secretions by oviduct epithelial cell layers in vitro. Significant amounts of taurine and hypotaurine were identified.
These are but a few papers I found in a cursory search. You can also see this article for what seems to be a comprehensive overview of the "physiological actions of taurine". Even though I haven't found any direct measurements of bulls, it seems safe to say that, given its function and ubiquitous nature, bull semen contains taurine.