It's fairly easy to be 'good' when there is no rival governments to compare to. TSAB is a defacto empire, with no peer opponents to keep it honest or apply pressure.
I'm not saying "good compared to other governments in setting." I'm saying by the standards an outside observer can judge a government, it is a good government.
And the concept of peers and opponents to keep you honest is one of the most irritating political concepts ever. Having a rival or opponent of equal power does not mean you suddenly don't do bad things. Usually, in fact, it's the opposite.
See European nations for most of their history, Chinese states for most of their history, Japan's states for most of
their history, any set of tribal groups
anywhere in history, or just the US and Russia for a good fifty years not that long ago.
Having an opponent who is capable of destroying you does nothing aside from create fear, which is the deadliest poison for peace and growth in existence.
Incidentally, I would argue the TSAB is less an empire and more a militarized UN with greater independence.
As for Taylor leaving illegally i eould like to point out that its highly likely she might be breaking customs and desease control laws by jumping between worlds with unofficial unlogged dimensional travel. The gov of those worlds doesnt know what Tay may or may not be carrying across borders when ahe jumps.
In story, she was a file opened as a runaway. Not a criminal, just a runaway. Police do open those cases, even when the subject has committed no crime.
I'd imagine her teleporting to UW 97 is illegal because of the TSAB's policy of non-interference with worlds until they are ready for contact. Having seen her jumping about in TSAB space, it's reasonable for them to expect her to know the rules. Similarly, teleporting into and out of a TSAB base is wrong in the same way that accidentally walking onto a US military base then trying to run out the gate is wrong. It is to the TSAB's credit that there are only teleportation blockers and not more lethal means of preventing escape.
But considering the TSAB's usual policies, her ignorance is actually an acceptable explanation.