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Milk isn't any healthier than any other drink. It's calcium content was considered it's primary benefit until a long term study was done that found we don't actually absorb calcium from milk that efficiently (like, 30-ish%). Calcium absorption in plants is much better, which makes sense since humans have been eating beans, nuts, and leafy greens far longer than dairy milk. We're built better for that. I'm sure populations have adapted more, somewhat, but there are still many places where the lactose intolerance is the norm and they're not all collapsing from brittle bones. The fat in milk is probably the healthiest part. You'd have to check the particular plant, but it even seems like plant-based milks might be better for all the health benefits than dairy. In general, low to moderate coffee consumption provides more health benefits than milk. You mostly just have to worry about caffeine levels.

Lactose is a sugar and can cause cavities. What is overall healthier is debatable. Milk, I suppose, would lower the acidity.