It’s good for oatmeal, fine for tea, wouldn’t recommend drinking straight. Have you tried pea milk? Which soy milks have you tried? They can vary a lot in flavor across brands

when looking for alternatives, are you looking for something that’s the exact same flavor and texture as milk from a cow? If so I’d recommend accepting that you won’t find something identical like that. Instead, approach the plant milks on their own terms and find what you like as if it was your first time drinking any kind of milk.