Here's one excellent Dharma Talk everyone should read:
Link.
There are only universal truths (including those discovered and realised by Taoists sages for thousands of years), the rest is only parts of the elephant people like to associate themselves with.
Samsara = yin, yang, five elements, suffering, impermanence, karma, rebirth
Nirvana = end of suffering, no more duality, end of impermanence and rebirth.