The only thing that I have noticed is that when cooking I don't like to use the soymilk that has vanilla in it. I always go for the regular-low fat.(For baking either is fine but you might want to add a little vanilla extract.) Lets say your making soup, most aren't sweet, so if you added soymilk with vanilla it would throw off the taste. I have used soymilk for making rice pudding many times and it has always turned out ok for me. In the begining, when I first started using soymilk I didn't like the taste. I got used to it because it was better than getting sick. Is it possiable that you could have reacted badly to something else in your recipes? Hope this was of some help.
I dont use almond/rice milk so I cant add any info on that.
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Re: When can you substitute almond or rice milk instead of soy?
