Vivaroo, according to my Vegetarian recipe book, Rice, almond and soy milks are all soaked first.
In my Rainbow Recipes
book nut or oat milk is not soaked but soy is and rice milk is made using cooked rice. Her nut milk suggestions use various nuts including cashews, almonds, brazil nuts, hazelnuts, sesame seeds or sunflower seeds.
I haven't made any of the above, ordinary milk in used here.