Howdy Don!
I'm a CAS Gunfighter (one gun in each hand) and I do it with black powder, but we won't go there.

There are two main things to consider if you want to go with one-hand-one-gun shooting.
1. Can you reach the hammer?
2. Can you keep your grip during recoil?
The variety of grip shapes on SAA's prove that one size does not fit all! I find the recoil harder to control if I grip high and crowd up on the hammer. But I had to do that to get to the hammer. Shifting the guns around to make the hammer reach is begging for a dropped gun. My solution was smaller framed guns. If your pinky is under the grip, you limit the "creep" that can happen during a shooting string. Keeping my grip the same every time I draw removes a variable and gives me one less thing to think about so I can focus on the target order and the front sight.
You may have to try a few other grip/gun styles to find the one that fits. Sometimes thinner grips (called gunfighter grips) work, some folks like to get hard dead animal material and have a design carved into it that helps keep the gun when it needs to be. There's Birdsheads and Bisleys and Remingtons -- all have a different shape than the traditional Colt style your Tauras has. If you wanna be a gunfighter, there's a way! It took me three years and three sets of guns to get there.