Thickening almond milk in hot liquids
Toasted almond flour.
I hear what you are saying about the almond milk.  It lacks depth in a way that is hard to describe or maybe has a flat taste that like many off tastes are easier to perceive when hot.
I propose with no evidence at all that you could add a little toasted fine ground almond or almond flour.  This is not some exotic stranger like xanthan gum, just more almondy goodness.  Thickening stuff with flour of any sort is totally legit.  Toasted almond flour is very nice for breading or things of that sort.
You would need to keep stirring it up I think.