This comic actually got me wondering if the pedals needed to be adjustable on the gear to match the taur's gait, and which gait would a taur feel comfortable using? Like would it be more natural to be paired like a slow trot, or would they need to be a little out of phase for a steady rhythm for cruising?

Hm, maybe a three-gear system that shifts as they get up to speed so that they can change speeds without having to worry about being faster or slower? (I have no idea how that would work or what it would look like.) The device might end up being bulky as heck, but I feel like with enough gears and such you could build a taur bike where they can just hop on and go. Maybe it would need to be calibrated for each taur who uses it or something. Hm...Need more science!

The answer is both simple and obvious. Taur-aining wheels.

Electric generator on each set of pedals, and a motor on the wheel(s)? Or possibly hydraulic, same idea. Either way, no need to synchronize the pedals at all!
But how inefficient would that be, compared to the traditional chain that does need sync?

Or, a one-way clutch for each pedal, like a traditional bike has on the wheel, so that the faster one takes all the load. Stop both to coast, like usual, except that the wheel now backdrives the chain like a "fixie", and it's the *pedals* that freewheel.
Then to change the relative phase, you just let one lag for a split second.

That's actually a rather good solution just make it so that the energy of the mechanism isn't based on the pedals anymore, so it just works off a buildup of power, power in this case is kinetic energy of some sort. I think this is a good direction for making a transport for taurs as if you also have bipedal folks around they would still be able to use them. going to use something like that for my world I think.