Depends on how ‘better’ is being judged. Premium fit/finish, interior quality, handling, etc. - i.e. the things that the legacy Porsche business was already good at, Taycan is better.

Battery tech, motor tech, vertical integration, and (arguably most importantly) overall efficiency, Tesla is ahead, and probably by many years.

Tesla also far ahead in effort/time out into developing self-driving, though the jury is obviously still out on how meaningful their approach finally turns out to be.