I believe our app Better Reports may be able to help. We can create a report that shows both gross sales and net sales by the date along with the taxes charged. This can be aggregated across orders. We can also show the tax amount collected by tax name and can schedule this to be sent at a regular cadence (say monthly). This report can also be exported directly to Excel, csv or pdf.
I believe the correct metric would be Net Sales as taxes usually aren't charged on discounts or returns. However, you'll have to verify this with the tax code of the particular jurisdiction.
In addition to building custom reports to meet your specific needs, you'll also get access to 60+ built-in reports that cover many common use cases for merchants and our reports can be scheduled to send to your email or Google Drive at set frequencies.
I encourage you to install Better Reports and start your free 14-day trial, and I'll be happy to set this up for you.
Let me know how you go and feel free to reach out if you have any further questions.