You can, in fact, disable this by configuring disableKinds:
disableKinds = ["taxonomy"]
ignoreErrors = ["error-disable-taxonomy"] # you will get a console error message without this
Docs: https://gohugo.io/content-management/taxonomies/#default-taxonomies
If you also wanted to disable /tags/lorem/ you can add "term" to the list of disableKinds.