We do hard tacos at home. We fry corn tortillas in about 4 inches of corn oil. They all come out uneven, but they're tasty. They stay a little softer on the inside, so they don't shatter while you're eating them, which is great. Totally different taste than store-bought shells.
The downside, of course, is that you have to eat them fresh or within about 24 hours. They'll keep if you want to make a taco salad tomorrow.