I agree with Vampire, most people on this forum really are from taurus or at least play there occasionally xD

anyway... for a good server i don't know if Taurus is the right one considering all you stated after...
Lots of people? It fluctuates A LOT. Some days there are a stack of people and other times it is so damn empty..

Nice people? Hard to come by at times but should not be hard to find if you mix with the right people.

Helpful people? Honestly I believe so, as many are really bored at times and so are happy to help anyone with any quest or what not.

People Looking to be friends with a "Re-newbie" ? xD There should be quite a few people... My main's list is always full but i'll be happy to friend you on my alt ! (: hehe (who i've been on more lately than my main in fact o.o)

anyway that's a basic overview of Taurus... it's not a terrible server and I say if you're considering it then give it a shot :P