One of the goals of Taoism was to seek immortality, and many practices revolved around that (maybe not in modern days though).
Even in 西游记, the "immortals" ate peaches to extend their lives.
So there's no concept of going to "heaven", but rather become 仙
If there's a "heaven", it was imagined to be similar to the human realm.. with the Emperor, officials etc.. think the Jade Emperor
The concept of heaven/hell was added later due to folk religions mixed in.
And the dark side... there were sexual practices in Ming Dynasty, gather many virgin boys and girls (there is a number that is significant to them), and have a big fornication party, in order to absorb and balance the yin and yang.
Modern Taoism already become rojak, mixed with elements from other religions.
If talk about the original philosophy by Lao Tzu, one big concept is to do nothing with your life (let nature take it's course).
Don't try to be an achiever, because that causes change, and change will destabilize the society.
It's part of the Hundred Schools of Thoughts (including Confucianism that proposed obedience, and not to strive to get out of your "social caste") to help the ancient emperors control the peasants, and become part of education to help stabilize the times.