jms,
You could use the inv_cleint_task_resource table to give you the info you are looking for ..
using resource manager to get the table name and data you could write a query that gives you the results you are looking for.
use a sql query as such to get Task Servers and their registered Task clients
select
c.Name as Computer
,c.[OS Name]
,ts.Name as [Task Server]
,tr.IsActive
,tr.HasTaskAgent
,tr.LastRegistered
from vComputer c
join Inv_Client_Task_Resources tr
on tr._ResourceGuid = c.Guid
join vComputer ts -- join to get the task server
on ts.Guid = tr.ClientTaskServerGuid
order by ts.Name, c.Name