Kidderminster boss Jan Molby is interested in re-signing the midfielder, and Taylor won't stand in his way.
He said: "Richie knows he's got to get himself fit but if you are asking me whether I'd allow him to go then I'd be mad not to.
"If Jan Molby does want him, then all he has to do is pick up a phone. I'm sure we could sort something out."
Meanwhile, City defender Steve Burton could be extending his loan deal at Aggborough. The 21-year-old's played 3 times for the Harriers, but his month-long deal is up on Saturday. A longer stay could be on the cards - as long as they agree to the option for City to recall him at any time.
"I'm happy for Steve to stay there - provided Kidderminster agree. He's done well with them. He did train with us yesterday and looked a lot stronger and confident.
"That's why we let him go out on loan and I'm sure he'd benefit from another month."