I have mixed feelings about this. On the one hand, economies of scale mean that the efficiency of mass production should be far, far higher than a bunch of people individually making their own at home, especially when the alt-milk you’re making has a short shelf life. On the other, the logistical challenges of packaging, preserving, and distributing mass-produced groceries produces a lot of waste.
Here in Taiwan, most mom-and-pop (i.e., non-chain) breakfast shops will make their own soy milk by the vat every morning. You can swing by with an empty jug and fill it up at less than a dollar (US) a liter. Most of that money goes to labor, as the beans and sugar required to make a liter of soy milk cost less than 10¢. This is, to me, the ideally sustainable solution: micro-mass production, so to speak.
(Of course, very few people actually do it this way anymore, as most people here prefer the convenience of disposable cups and straws. But that’s another question for another time.)