I don’t believe you have used the correct plant milks for the correct uses.

1. Soya Milk: Kinda meh taste for hot and cold beverages. U won’t go wrong with it. However, this ain’t the best product for all uses. U can make tofu tho, which is nice.
2. Oat milk: The best choice for cold beverages. Oat milk has a flavor that is just much better than soy milk in my opinion. While u can use it for hot beverages (and it’s delicious there), u need to be kinda careful. The more u heat up oat milk, the thicker it becomes due to the starch present in it. Therefore, never try to boil, or come close to boiling oat milk ever.
3. Coconut milk: If u have anything to say about coconut milk, gtfo from here. It’s fatty and can be a substitute for cream. Needless to say, it is absolutely delicious! South Indian curries make use of this. There’s also a drink that I love called “Solkadhi”, which is an Indian drink made using coconut milk. U just can’t talk smack abt it…
4. Chickpea milk: Now this is a use case which I don’t know if many people would agree with me out on or no. What I do is, I make chickpea milk to make youghurt out of it (just ferment it using soaking water). Now, in my experience, this yogurt tastes like shit if u consume it alone. HOWEVER, if you use it in curries, gohdddd r u in for the treat of ur lifetime! One, u get a beautiful thick curry and two, u get that amazing acidic flavor. It’s just rlly rlly good! Highly recommend if u guys haven’t tried this out yet.
5. Other plant milks: There are a gazillion other plant milks. I just mentioned the ones above that I have personal experience with.

In conclusion, try not to fixate on one plant milk alternative and then attempt to use it for all use cases of dairy milk. Remember, there is no monolithic “dairy milk alternative”. Different plant milks serve different purposes. If used correctly, u’ll get the best culinary experience of ur life!