How do you make your soy milk?

I've found so many variations e.g.

soak for 6 hours (minimize fermentation), soak for 3 days (to maximize available nutrients and purge phytic acid);

scrub to remove skins, or don't;

change water...or don't;

blend, boil, strain;

blend, strain, boil;

boil, blend, no straining;

Boil no more than 15 minutes or it will taste like miso paste Vs 20 minutes...Vs longer because beans take a long time to cook

extra condiments or thickeners Vs just sugar.

Sooo...has anyone tried a few of these to tell me which differences to expect?

I was leaning towards soak 24h, scrub skins, boil 15m, blend (my blender is not that strong, so that's why I'm boiling first, add sugar (no straining).

Is there a configuration that is less bitter or closer to nut milk? I'm trying to understand why I am doing things, so that I can control it, otherwise I'm just following random recipes and tweaking with no idea what's happening :P

PS: https://m.youtube.com/watch?v=GWoP0lc-KqY&pp=ygUIc295IG1pbGs%3D added this recipe with the "burnt pan" trick.