I switched to soy milk for about four months, but ultimately went back to regular milk because it has less sugar and is less sweet. I imagine without the sugar it’s not as palatable, but it was a noticeable, negative attribute for me.
I find the sugar is completely unnecessary, and usually skip the flavor as well. Soy and coconut milk have the best texture IMO.
I grew up drinking soy milk, it's much more palatable when you don't treat it as its own drink instead of a milk substitute. I never put soy milk into my coffee/tea/cereal.