No, there is no passenger ferry service between Okinawa and Taiwan at this moment.
Used to be passenger ferry service from Ishigaki Island, Okinawa to Keelung, Taiwan. However, service was terminated on 2008. Currently there is no scheduled passenger ferry service between Okinawa and Taiwan. There is unscheduled charter service few times per year between Taiwan and Okinawa by Taiwanese shipping company, but I do not know the detail.