China does not want to take over Taiwan other than not having a non-US-ally close at door. Previous government of Taiwan had good relationship with China, although China didn't allow them to join WHO as an independent country, it did permit it to join WHA and WHO as a non-member state. China's trade deficit with Taiwan is tens of billions dollars every year.
It is just that US's strategy of containing China works really well with the pro-independence party in Taiwan. Anyone allowing Taiwan to be fully independent will lose power in China. It is mainly a proxy power fight between US and China. Taiwan is the most important spot in the first pearl chain containing China. China will have to make a decision either to break the chain or be contained forever. It is a interesting year, since we already have three or four wars broke out this year so far.