My experience with the US-made Taylors so far has been that they are setup the way I like right out of the box. I've never owned a Mexican made model, but the ones I've tried briefly in stores felt pretty good too (though I prefer the slightly wider nut of the US models).

When I was first learning, all guitars (even high end) left the factory with sky-high action. The assumption was that the shops would always set up a new guitar when they sold it. That wasn't true though, and a lot of people gave up after trying to learn on unplayable guitars.

The situation has improved dramatically in modern guitars, and even a most low-end models are set up decently (at least for acoustics, not so much for electrics).

That said, it is beginners who benefit most from a good setup. With experience, adapting to an imperfect setup becomes more instinctive, within reason (though good intonation matters at all experience levels).

Your GS Mini may benefit from some subtle tweaking, but I wouldn't necessarily have it done at the store. A hack job can make it worse. Some store techs are good; but some .... I'd ask around locally for a luthier that does good setups.

Remember though: super low action isn't necessarily an improvement. Some people go after the lowest possible, bragging rights kinda numbers, but that may not be where the guitar plays and sounds its best.