Kender are the only race to have an actual taunt ability in pen and paper. Kinder use the bluff skill in order to taunt. Later, there was the goad feat. Intimidate was made for demoralization and being feared or shaken. Although DDO adopted a different effect for intimidation, the D&D texts are against it.
A halfling fighter could use bluff, rather than intimidate to taunt. The entire two lines of the fighter and paladin tank enhancements are not available to halflings. I've tried a couple of times to make that build without any success. Even the elf may taunt better than a halfling. Elves, IMO, are supposed to be the kindest creatures in D&D.