One of the lawyers representing Dred Scott seemed to think Taney wasn't so bad:
George Ticknor Curtis, one of the lawyers who argued before Taney on behalf of Dred Scott, held Taney in high esteem despite his decision in
Dred Scott. In a volume of memoirs written for his brother
Benjamin Robbins Curtis, who sat on the Supreme Court with Taney and dissented in
Dred Scott, George Ticknor Curtis gave the following description of Taney:
He was indeed a great magistrate, and a man of singular purity of life and character. That there should have been one mistake in a judicial career so long, so exalted, and so useful is only proof of the imperfection of our nature. The reputation of Chief Justice Taney can afford to have anything known that he ever did and still leave a great fund of honor and praise to illustrate his name. If he had never done anything else that was high, heroic, and important, his noble
vindication of the writ of habeas corpus, and of the dignity and authority of his office, against a rash minister of state, who, in the pride of a fancied executive power, came near to the commission of a great crime, will command the admiration and gratitude of every lover of constitutional liberty, so long as our institutions shall endure.
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https://en.wikipedia.org/wiki/Roger_B._Taney#Legacy