Longtime airplane executive Alan Mulally took the wheel at Ford Motor Co. in 2006 asking the type of questions you’d expect from an outsider. Among the most pressing: Whatever happened to that aerodynamic family sedan named the Taurus?
The Taurus reinvigorated Ford in the 1980s but was killed after a botched redesign relegated it to rental-car status. In its place came the Five Hundred, a bulbous automobile as unloved as it was unknown. Mr. Mulally wanted Five Hundreds renamed Taurus and charged engineers with a necessary overhaul.
If Mr. Mullaly’s hunch that it’s bad business to discard a brand that cost decades

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