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They're probably not really trying to come that close. If you drink almond milk expecting it to taste like milk, you'll be disappointed but if you drink it for what it is, not expecting it to taste like milk, it's fine.

Considering someone went through the trouble of inventing, manufacturing, and marketing them when milk was already there, I expect them to taste better.

I'd argue we shouldn't always optimize for taste. I drink a mix of plant milks and grass fed milk (mostly I use it in baking or yogurt making.) I buy for sustainability, taste, cost, and ethical animal treatment reasons.

I agree with you completely, but the marketing and narrative around these products really invite the comparison.

Sadly they need to cater to a audience that craves familiarity and fears change.

In fairness, your ancestors, I'm assuming, were likely not lactose intolerant.

I think most of these alternatives are targeted, at least in part, at that market.

If you enjoy cow's milk continue drinking it of course. The alternatives are mainly for either the lactose intolerant or moral dietary practitioners (such as vegans).

I myself enjoy cheese and fatty meat on daily basis.