Yes they do, but of course there are so many different grays (blue-grays, green-grays, warm grays, cold grays) I can't say that every shade of gray will go with every taupe.

Definitely. I just redecorated my living room using these colors and love it. My walls are a light grey with a charcoal accent wall. My brown comes in with brown leather chairs. To pull the colors together I have pillows on my Merlot colored couch with brown and silver circles on a black background. These same colors are repeated in my curtains which are horizontally 1/3 silver grey, taupe and black. I think it is important to have a bold accent color in your room to give it a pop. Either the couch or an area rug are a good place to utilize color. Good luck. I think you will love the combination.

I agree they do go together because a the vast choices in each of the colors.

Absolutely! Have just finished painting our new-to-us house: the walls and furnishings are all shades of taupes, grays (some with overtones of green in kitchen, or blue in family room, etc) and since the open layout flow from front to the back of the house, these colors needed to blend visually.
I hope you can see from the photos:

I also agree, gray is such a versatile color especially on the walls.

https://www.houzz.com/photos/1st-avenue-contemporary-living-room-phvw-vp~1805146

Thx everyone. Dytecture: what gray is on your walls?