http://drupaleasy.com/blogs/ryanprice/2008/06/using-views-2-drupal-6-cre...
Dale asks a good question: before the release of Panels for Drupal 6, how can one associate a block with the node it's being displayed next to without writing a custom module? It turned out to be simpler than I expected. I actually started going down the path of custom modules, but in the process I noticed that Views still have the ability to load Arguments with PHP Code, and my solution wrote itself.
Dale, you're already pretty far along: you know you need a view inside of a block, displayed based on taxonomy terms to relate the view to the pages. Instead of giving you a full-fledged tutorial on Views and the Black Arts, you'll be getting a recipe that outlines how to create the block in question.
First, you'll want to download and install Views 2 for Drupal 6, currently in Beta 4, then enable the module under admin/build/modules - remember that Views also requires you to activate Views UI, as the views.module is more of an API for creating views.