We should also ask if China at the early 1950's had the necessary economic and military power to take over Taiwan. China navy at that time was very weak as evidenced in the battles to take over Hainan with fishing boats. The failed effort to take over Jinmen was also the evidence of weak navy even it was within the reach of army's gun shelling range. China's air force was even worse at that time as evidenced in the first 2/3 of the Korean War. Without sufficient navy and air powers, taking Taiwan over such wide waterway was most likely to fail. It should be also noted that Hainan's success can be largely attributed to the existing CCP military groups in Hainan and the weak Hainan economy that KMD can rely on.
Even though leaving Taiwan alone was undesirable due to the inability to take it. Mao played the game to the maximum. Shelling Jinmen was a good example.
As China's economic power and military power increase, it has the power to take over in near future. I personally believe that peaceful taking over Taiwan like Hongkong and Macau is unlikely. A decisive and powerful military action has to occur to avoid any excessive bloodshed in the unification effort. Such military action would be useful for the south China sea and Japanese conflicts too.