I am dairy food intolerant so use milk alternative. My choice is Soy because I prefer to the taste plus it is the closest nutritionally to cow's milk re calcium/protein etc.
DO try various brands because they are not all equal. Even within the one brand. Many years ago when I was first diagnosed, I tried Soy Milk and told the Dietitian that I couldn't stand it because it was too strong in flavour. She suggested that I try the "Lite" version of that brand, a much reduced fat content - 60% less than that brand's regular soy milk. I did and quite liked it. Other brands, I don't like.
Rice Milk I find too watery in tea and coffee, and it lacks the nutrient content I am after.
It comes down to taste preferences and what you want.nutritionally. It pays to read the labels. My soy milk is from NON-GM Soy.
This article lists a lot of options. I do not have any personal experience so cannot recommend one over the other; but, thought this might give you some ideas. There are some in this list I never heard of. :-)