For some numbers:
One graph even has California's animal feed water usage so large it actually goes off the chart at 15.2 million acre-feet of water (it is distorted to make it fit as it notes). For some comparison, the blue water usage of animal feed is larger than all of almonds water usage of ~2 million acre-feet of water
https://pacinst.org/wp-content/uploads/2013/02/ca_ftprint_full_report3.pdf#page=25
EDIT:
If the image isn't loading for you, here's a direct link: https://i.imgur.com/EjVps9Z.png
EDIT 2:
Also worth noting is that per liter, dairy milk requires 628.2 L of freshwater vs almond milk requiring 371.46 L of freshwater. And if you use something like oat milk instead that gets you to 48.24 L
I still like Soy milk the best. It's tried and true, and uses less water than Oat. Sadly, the emissions are a bit higher...
But a benefit is that in making soy milk, you have the setup to make tofu, which is lovely as well.
honestly, looking at the graphs, the emissions difference from the 4 plant types are pretty close, and all are 1/3 - 1/4 of dairy.
as a whole comparison, I'd say Soy & Oat are equally a class above the rest, rice/almond is still better than dairy, and then dairy is embarrassingly bad.