They didn’t call them Sentinels because the name was cool.
Sentinel is not a spy, quite the opposite.
Sentinels stand guard over an area. Which is exactly what they did, stood guard and watched over Night Elf lands. Lands that did not include and did not boarder Tauren lands.
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Tauren are fast. They were literally their own mounts at one point in time. I think it’s because centaur likely used tactics like the Mongols. Fast raiding parties with quick in and out attacks. The tauren are fast, but not faster than a horse.
Cowvalry 
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When Malfurion put the boot on the Highbourne it was from all of Kalimdor, he even created the Mists of Kalimdor to keep them from landing back anywhere on the continent.
What??? Where did you get this lore? As far as I recall Kalimdor has never had any sort of mist/magical protection or whatever preventing people from going to it and it was purely a “you cant return under penalty of death” thing that would prevent the highborne from coming back.
It was from one of those books in an inn at Kalimdor. It’s also mentioned that in the RTS, the landings of Proudmoore and Thrall broke the Mists of Kalimdor.
Malfurion wanted to make sure that the Highbourne didn’t make a return beachhead on some other part of the continent.
If that is the book you are talking about then no there is nothing about some sort of “mist” of Kalimdor.
Malfurion and the druids dismissed Dath’Remar’s arguments and warned the Highborne that any use of magic would be punishable by death. In an insolent and ill-fated attempt to convince the druids to rescind their law, Dath’Remar and his followers unleashed a terrible magical storm upon Ashenvale.
The druids could not bring themselves to put so many of their kin to death, so they decided to exile the reckless Highborne from their lands. Dath’Remar and his followers, glad to be rid of their conservative cousins at last, boarded a number of specially crafted ships and set sail upon the seas. Though none of them knew what awaited them beyond the waters of the raging Maelstrom, they were eager to establish their own homeland, where they could practice their coveted magics with impunity.
I think the whole mists of kalimdor was retconned that’s why. They went on to use the mists for pandaria instead
The Tauren were handling it for one-thousand-one-hundred years without anyone’s help. And as far as Warcraft III went, it was only the Bloodhoof tribe that needed help. There were other Tauren tribes. Some not even on Kalimdor, like the Highmountain, which was the tribe that helped the Night Elves in the War of the Ancients. The Night Elves only took notice of the Bloodhoof and their associated tribes due to the Battle of Mount Hyjal, after which Malfurion taught them Druidism through Hamuul. The Night Elves and the Kalimdor Tauren weren’t close or perhaps didn’t even take notice of each other before that.
And it got retconned. Gadgetzan has been in Tanaris since at least the immediate aftermath of the Second War and humans went there.
It failed because a hundred years before the Cataclysm a group of high elves returned to Kalimdor and obviously others remained in Kalimdor.
https://warcraft.wiki.gg/wiki/Legacy_of_the_High_Elves