You will realize that it's all in the same district and that travelling within the district is extremely easy with either subway or taxis.
The only problem I can see teams having trouble with is the pitstop, which the cabbies could have brought them to the Chiang Kai-shek Memorial Hall, which is TAR 12's pitstop or any other memorials for other Chinese historians, which I think the city of Taipei itself has a few.
To the team who got lost: Really really bad luck. Taiwanese usually speak A LITTLE English these days. It's easier to converse to the people in Taiwan than in Hong Kong, IMHO.
&... while they're at Taipei and so near to the location, i'm quite shocked they didn't go to the Taipei Arena!