To hear them: https://www.nydailynews.com/entertainment/music/hear-stairway-heaven-v-s-taurus-article-1.2685650
This is a good link of the lawyer fighting Led Zepplin : https://www.rollingstone.com/music/news/led-zep-plaintiff-lawyer-case-was-tried-in-an-alternate-reality-20160623
Most Helpful Guy
I listened to both and it sound vaguely similar but not like a complete rip.
If I remember correctly this "everything is a remix" video points out a number of examples where zepplin songs are "remixed" (or ripped off) from other songs. So I wouldn't put it past them if they did steal it.