There is a lot of confusion about how your choice in milk affects the planet. Granted, most of this is deliberate misinformation generated by the dairy industry and their allies, but it is still confusing. This chart should clear it up. It may take a couple of minutes to decipher it all, but the single biggest takeaway is that dairy is far more harmful to the environment than any of the alternatives.
Here is our source and a lot of other great information on the subject - Our World In Data