Taxable isn't as bad as you might think. Assuming you don't qualify for Roth/Traditional IRA owing to the income limit, that means tax-exempt bond funds are probably worth it for you. That lets you use taxable accounts for bonds.
But also, passive stock funds are tax efficient. You will pay a reduced tax on dividends each year, and a 15% tax on long-term gains (for most people). So right now Vanguard Total Stock Market ETF (VTI) has a 1.93% dividend.
So if you invest $10,000 in VTI, you'd get $193 in dividends, and pay $27.50 in taxes on that $10,000. That's only 0.25%, and some funds are actually more expensive than that before taxes.