Mmm, I don't think so. Sorry about the low quality here, this is my first time trying to take pictures of swatches! It's nighttime right now and I only have the light in my bathroom, but I thought it would at least give you a general idea of what these look like.
I didn't swatch all of the Naked palette, leaving out the ones that definitely don't look anything like Satin Taupe. Here's some of the darker ones together with MAC Satin Taupe:
None of them really have the same color, but I thought that Toasted had a very similar frost texture and a close shade, so here are the two in a hopefully better photo:
So I think that if you are okay with something
similar but don't need to have the exact same color, Toasted might do the trick? Satin Taupe is definitely still a lot darker, though.
I wouldn't really trust my lighting here for true color or my inexperience with swatching... buuuut I still hope this helps a little bit!