A real short post to keep track of the new config for TACACS+ on Cisco devices. It's not really that new, but it avoids the deprecated warning!

Old Style:

tacacs-server host <server ip> key <my tacacs key>

Replacement 'new' config:

tacacs server AUTH
 address ipv4 <server ip>
 key <my tacacs key>
aaa group server tacacs+ TAC_PLUS
 server name AUTH