I'm not a vegan or vegetarian, so that's my disclaimer.

I've tried numerous "milk alternatives" over the years, and many different brands of each. That's particularly true for soy milk since there are so many brands in the USA and it's been commonly, and easily available in my region for 3+ decades.

Based on that, I have to say that soy milk is, for me, consistently my least favorite option in terms of taste.

Of the easily available stuff, almond milk is my favorite, but I see so much hate for it online in terms of environmental harm that I finally just said fuck it, I'm going back to real milk, at least it's cheaper.

My favorite that I've tried so far was hemp milk. I don't recall the brand but years ago I found a brand that did chocolate hemp seed milk that was so good I swear they must've put a dab of fentanyl or nicotine in it to keep people coming back.