There are a couple of places that I can remember around there
1) Sin Thai Massage is right in the centre of Taunton and is an above board Massage room with no extras but she is totally fine with you being hard she just covers it with a towel and carries on, never been a problem with me and I've been commando whilst there and hard as rock.
2) original Massage centre in Crewkerne is well reviewed on here and give a proper massage with the extra treats if you want them so this is a winner if you want some relief added in.
