Dairy milk is gross. I stopped drinking it nearly 15 years ago. I wasn't vegan or vegetarian at the time. It just tasted awful. I still would eat cheese than, but as a drink, dairy milk is plain awful. It's also terribly inefficient. It's not shelf stable. It has a short lifespan. It requires a lot of water and energy per cup than many others.
Do plant-based milks taste exactly like milk? No. But they don't have to.
And how is it better for us? Considering a majority of the world can't digest it is a big sign as to why plant based is better. Soy isn't the only option. There's almond, pea, banana, cashew and coconut to name a few.
Considering yogurt was just a made up word at some point, I have no problem with words evolving over time like literally every other word in our language.
Yogurt is about the end-product. It's like calling only some things bread because they have extra ingredients or don't use the same grains that ancient societies used to make the original bread.