The VAR operates from Stockley Park, so probably wasn't in on the referee's briefing to the teams before the game. So if they saw a foul in the build up, they were probably correct to refer it to Taylor.
Taylor then had to decide whether or not he missed the foul in the lead up to the goal, or if he made a clear and obvious error of judgement by not penalising the foul.
He didn't miss anything - he was right in the thick of the action. It wasn't an error at all to not penalise the foul, because it was the same level of contact that had been acceptable throughout the game.
Taylor should have said thanks for alerting me to that, but it is entirely consistent with everything else that had happened in this game, the players are aware of my instructions, I have not made a mistake, and the goal stands. He could say this to the VAR, they could tell the studio and the world, and we would be a goal up with the decision explained away.
This is another example of Taylor being weak when he should have the courage of his convictions and remain strong.