I see he is still with his family in 1901 so he must have gone after that.
On Findmypast there are passenger lists and these are the ones that come up on there.
TAYLOR S J DOB Unknown, Travelling 1911 from Southampton to Australia Melbourne
TAYLOR Samuel DOB Unknown, Travelling 1910 from Liverpool to Australia Brisbane
TAYLOR Samuel DOB Unknown, Travelling 1911 from London to Australia Sydney
TAYLOR Samuel DOB Unknown, Travelling 1912 from London to Australia Sydney
TAYLOR Samuel DOB 1876, Travelling 1924 from London to Australia Brisbane
TAYLOR S DOB Unknown, Travelling 1911 from London to Australia Sydney
Perhaps some (or all) of these can be eliminated by seeing who they travelled with.
I am in Oz- any other info such as approximate date or time and age or perhaps the state or place of destination? Could be new Zealand??? Taylor is a pretty common name and unless there is some time frame or a couple of bits of info- is a bit like looking for a needle in a haystack. Perhaps the emigration records might show up something if he was intending to stay.