How do I start taskgated again?

You can either reboot, or run

sudo launchctl load /System/Library/LaunchDaemons/com.apple.taskgated.plist

When I ran launchctl load I got this error:

/System/Library/LaunchDaemons/com.apple.taskgated.plist: Operation already in progress

So I had to run:

sudo launchctl unload /System/Library/LaunchDaemons/com.apple.taskgated.plist

Followed by:

sudo launchctl load /System/Library/LaunchDaemons/com.apple.taskgated.plist

And even then it took about a half minute for it to show up in ps.