That kind of tape job can be normal for a garage. The only real technical purpose for taped joints in a garage is to create a fire-rated wall/ceiling and to provide an air barrier so exhaust can't get into other parts of the structure. Obviously it looks nicer if the tape is embedded with multiple coats on top, but it's not a big deal if it isn't.
But the advice above is great. Taping the inside corner might be a little tricky if you've never done it before, but it's not like it has to look amazing.
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