Do Taiwanese people speak Mandarin?

I know Taiwan isn’t in China. But they speak similar language don’t they?
I watch alot of taiwanese dramas and I think the language they are speaking is Mandarin .
And what’s the relationship between taiwan and china.
Previously, I used to think Taiwan is a part of China (sorry if I offened you) and why is Taiwan called "Republic of China" if it isn’t a part of China??
All of this is getting me confused.!! lol

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