Making soymilk (or nut milk) by hand calls for lots of blending, cooking and straining.
Which machines or machine categories automate most of the steps? Are there non-industrial (i.e. consumer market) versions of a fully automated machine?
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The Vitamix can do it without cooking (you soak over-night), but you'll need to strain it yourself if you don't want any sediment. We use a hand strainer. It's not real fine like what you would find in a coffee maker, but it works for us. Some people use a cloth.
This is a heavy-duty machine for the commercial market.
Here is a link to their Almond Milk recipe: https://www.vitamix.com/recipes/almond-milk/s-series/variable-speed/20-ounce-container