I've never had a problem with cauliflower, but always considered it one of the more boring vegetables ... until I had it prepared by a German lady who is an excellent cook. She had fresh cauliflower in some sort of sauce, and the way she made it is one of the best dishes I've ever had.
There are a number of vegetables that can range from very good to very bad depending on how it is cooked. I do sympathize with you, as no one could convince me that asparagus is anything other than poison, but I'm just noting that your personal experiences as a child may not be the best guide to the question now. I can also say that Brussels sprouts (which along with cauliflower are part of a large group of closely related vegetables) can taste completely different depending on whether they are fresh, canned, or frozen. That is, fresh Brussels sprouts can be reasonably good, whereas the canned and frozen sorts taste like two varieties of what must be served for dinner in hell.