I switched to almond milk years ago simply because the shelf life is 3x or more that of cow's milk. I never go through cow's milk before it expires so it's been great for me. The flavor is a bit different but it's not worse.
For me it depends on the brand, added sugars, and what you’re using it for (cooking, cold cereal, smoothies, drinking it straight). This seems to be the case for all of the plant-based milks. But it can be enjoyable finding the ones you like.