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It will be difficult to get an unsecured loan for that amount. Have you tried working out a payment plan with the IRS (or state agency)? I suspect the IRS will give you better rates.
Hopefully, others can chime in with their experiences.
How far back are the taxes due from? 2014 Federal Income Tax / 1040?
What was the cash flow experience that led to this $10k amount?
Presuming it is 1040, do you only owe it for the annual amount? No quarterly deposits that should have been made in 2014 and were missed also?
Do you have to pay all six outstanding years at once, or is there an option to pay the earliest 3 or 4 years to get those caught up, then work on 2012 and 2013 later? Not that that is the best option, paying property taxes up to date is the best course of action, but if you are short cash flow, maybe that gets you enough of the way there with the car loan that the entire property doesn't go right now.
It's possible to get a personal line of credit from a local credit union, are you a member of one in your area?
Longer term, however, what is causing you to fall so far behind on annual property taxes?
What is the importance of the property to you?
Is getting a personal loan to pay the taxes a sustainable method to keep up with the annual tax bill?
What is the status of the 2014 taxes?
So if you can pay it out of your paycheck, why don't you just do that and work on saving?