Software vulnerabilities pose severe security threats, highlighting the need for effective automated detection. Directed hybrid fuzzing, which combines the rapid exploration of fuzzing testing with the precise constraint solving of symbolic execution, has made notable advancements in vulnerability discovery. However, existing directed hybrid fuzzing approaches still face two key challenges: (1) inefficient seed selection, leading to inadequate prioritization of optimal inputs for symbolic execution, and (2) inefficient seed generation, resulting in suboptimal seed generation. To address these issues, we propose TACO-Fuzz, TArget-Centric cOncolic Fuzzing, which introduces a two-phase target-centric seed selection strategy to prioritize under-explored paths and a target-centric seed generation approach based on constructing extended path conditions, thereby improving seed quality. Our evaluation on a selected set of public benchmarks shows that TACO-Fuzz can outperform several representative state-of-the-art directed fuzzing tools, achieving up to an average speedup of nearly 10x in reaching target locations, along with comparable improvements in reproducing real-world vulnerabilities. Moreover, TACO-Fuzz contributed to the discovery of 17 previously unknown vulnerabilities, each assigned a CVE, and demonstrated faster vulnerability discovery and reproduction in most cases.