I have never had a problem setting up an ESC with my Taranis, I configure 6 channels 4 standard and 2 assigned to switches then it all just works I have used all sorts of ESC from expensive to cheap Chinese. The most I have had to do is turn on radio with stick in neutral turn on boat move stick to full throttle esc beeps then move stick to neutral wait a few seconds then move stick to reverse a few beeps then back to neutral turn all off turn back on and it works. most the time its just turn on in neutral and it works.
That may not help but I never do more than that, to be honest the Taranis is not a first time radio for the price of a Taranis receiver you could get a cheap radio and receiver frsky or something to get you going then go back to the Taranis once you have a little more knowledge.