There are some mistakes here, TAU is another solar system distant to ours. Sentient are developed and sent there to terraform the system and make it habitable by the Orokin. Orokin wanted to expand into TAU after Sentient would terraform it due to lack of available resources once the solar system was conquered. It is my understanding that Sentient were there first before Zariman ever made it to TAU.
Yeah, as far as I know, that's wrong. The Tau system is a distant solar system, it's not located in the Void. The Void was only used as a means of transportation to get there.