Soy is great. IMO it tastes worse than oat when it's basic milk (no flavorings etc.) but if I'm not mistaken it has much better nutritional values and so much protein I simply can't pass on it (as a vegan I get basically 0 protein a day, as you would probably know, and soy milk is the only source of it)
You likely get more than you might think from other foods. A surprising number of foods have decent amounts of protein that you wouldn't expect and that can add up