The listening ability is one point I can comment on, a skilled judoka typically seeks to apply a technique, a taiji player however typically does not. So the goals of application are not the same.

When you consider competition judo and equivalent push hands the goals are different and both have been well recorded and can be observed online. Judoka often follow the hands with the center, taiji players often follow their center with their hands, this difference too can be observed.

So I think that the feeling sense of judo is different than the listening aspect of taiji, however there is a great deal of overlapping similarity.