As your first gun, Springfield has a much better reputation for producing quality firearms. They also have some of the best customer service in the industry. Taurus, has some of the worst. Addationally a lot of people don't take the Judge as a serious self defense gun.
I'd suggest going with the XD as your first gun and after some time with it, make the Taurus your second choice if you still have the desire for one.
"He who laughs last, laughs dead." Homer Simpson