Mr Taiaroa, 67, was directing traffic on a remote Tram Rd in Kinleith, south Waikato, last week when he was shot by an unknown assailant driving a blue Jeep Cherokee. He died at the scene.
Speaking at a press conference in Hamilton today, Mr Taiaroa's wife, Helen, and four children - daughters Rochai, Melanie and Chanel and son Chad - pleaded with the public to provide any information that could lead to identification of the killer.
"This person, whoever they are, they have whanau, they have neighbours, they might have a partner," Rochai said.
"They're part of a community. They must have said something to someone and if anyone knows anything - it doesn't matter how small it is - please share it, don't be afraid. My whanau needs closure, my whanau deserves it."
Asked what she wanted to say to the person or people responsible, wife Helen said: "If they wanted to achieve destroying a family they've successfully done whatever was in their minds to do that. But we're stronger than that, we're really stronger than that.
"The reason we're here is to find the person or people who have done this."
She said she believed her husband happened to be in the wrong place at the wrong time.
The family spoke of a "salt of the earth", loving man who hated conflict.
"He was the sort of guy everyone wanted to be with," Rochai said.
"That's actually the hardest part. We can't find any reason to it."
She added: "He was the sort of guy who broke up fights at the pub."
Detective Inspector Tim Anderson said that as a result of a media appeal and checkpoints in the area Mr Taiaroa was killed, more people had come forward.
However, police still did not have a suspect and the number one focus of the investigation was still locating the male driver of the Jeep Cherokee.
It was not known whether there were other occupants in the vehicle.
The area also known for drug manufacturing, and that was something police were taking into account.
Mr Anderson appealed to anyone who saw the Jeep Cherokee over the long weekend to contact police immediately.
"Given that the weather's going to be fine and there are going to be a lot of people outdoors hiking, biking and tramping. Anyone who sees a Jeep Cherokee or anything suspicious in the great outdoors please contact police at the nearest opportunity.''
