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Aries wants action and stimulation, and enjoys the challenge of a new environment, whereas what Taurus wants above all else is domestic tranquility, stability, and security. Taurus puts down roots and gets emotionally attached to a familiar place, but Aries is much more eager to change and uproot when conditions feel stagnant or a new opportunity presents itself.
Where Aries is volatile and expressive, Taurus tends to be calm, steady, and impassive. Taurus is usually understanding but unperturbed by Aries's occasional outbursts of indignation, impatience, frustration, etc. Sometimes Aries may long for "a good fight" or a stronger emotional reaction from Taurus, but most of the time Taurus's even temper and calmness have a soothing, healing effect on Aries.
Aries's first response to any situation is action (whether appropriate and helpful or not); Taurus's is to wait-and-see, or to let the situation resolve itself in its own time.