I don't take either Ensure or Soylent (and I'm not sure that USDA recommendations for a 2k calorie diet are that good). It appears that Ensure tries to match a 100% USDA recommendation for caloric profile (at 9 servings per day fat/carbohydrates almost add up to 100%), while providing way over the recommendations on vitamin/minerals (~225% for most, close to 500% for a couple). On the flip side, Soylent appears to try to hit the vitamins/minerals 100%, while having a high fat, low carbohydrate profile (175% fat, 60% carbohydrates).
On the whole, it looks like they are not really replacements for each other, other than in the broad category of "meal replacements" since the caloric profile, and serving sizes are so far away from each other.
Personally, I'd go with the high fat, low carbohydrate version since I've found that those types of meals (in general, not specifically for "meal replacements") tend to keep me more satiated for longer periods of time.
[0] - https://ensure.com/nutrition-products/ensure-original#vanill...
[1] - http://files.soylent.com/pdf/soylent-nutrition-facts-2-0-en....
That does not mean such things are Ideal just that they work acceptably well for young healthy people.