Chasing their first Test win over an established full-member nation for over a decade, Zimbabwe progressed slowly on the fourth morning to be 172 for seven at lunch.
The loss of three wickets slowed any plans to significantly increase their advantage; 51 runs were scored in the session, as Vusi Sibanda, Malcolm Waller and Elton Chigumbura all departed.
Taylor, who began the day on nought, was therefore forced to dig in as he reached the interval unbeaten on 23 alongside Richmond Mutumbami (seven).
Zimbabwe's advantage was, however, already more than the 230 Pakistan managed in their first innings with batting becoming more difficult on a wearing wicket.
Sibanda was first out this morning when he edged Rahat Ali, who took three for 41, behind before Waller cut Saeed Ajmal to point.
Chigumbura offered another catch to wicketkeeper Adnan Akmal, this time off Junaid Khan, to leave Zimbabwe 156 for seven.