Agree that meat is very inefficient. But…
Dairy animals concentrate the calories on land that can’t be mechanically farmed, converting them into human-usable nutrition.
Even dairy animals on a conventional dairy farm upcycle calories - just searched and learned dairy farmers can boost a cow’s low-quality straw diet with cottonseed meal (high protein). Humans don’t eat cottonseed meal.
I’ve known people with a single dairy cow, or a few dairy goats. I don’t think “nut milk” works without a nut milk factory.