Josh,
I'd shy away from the Taurus .38 Super. USPSA Open division is dominated by .38 Supers, but the guns are made by STI, SV, Caspian, and other high end niche market manufacturers. I know the 9mm loaded hot was getting going when I stopped shooting, but Major power factor in a 9mm is a very high pressure load, and its pushing the brass to its limits--I'd never load something that hot in range-pickup brass.
The Glock most likely fits in Limited, Limited 10 (put no more than 10 shells in the mag even if it holds more), and Production divisions.
I agree with Joe, check out IDPA also. Its similar to USPSA, but different. IDPA focuses on real world defensive shooting (have to shoot from behind cover, can't leave a partially loaded mag on the ground during a mag change, etc). Its fun, but different from USPSA,
Suggest you find a local club that shoots the types of matches you're interested in, then decide what division you'd like to shoot in, then buy their used equipment if able to minimize startup costs. Action pistol folks are a friendly group, so they'll be more than willing to guide you through the process, and even let you borrow their stuff.