Miso is nothing like either tofu or soya milk, just as soya sauce is nothing like them either, though they all come from the humble soya bean. Tofu can take a bit of getting used to, you need to know how to deal with it and it can be incredibly different depending on how it's prepared. Not that I'm trying to convert you, I doubt your life will suffer because you're not consuming tofu.
Have fun experimenting!