Does soaking almonds have the same effect as blanching and removing the skins when making almond milk?
I think that both will do the purpose you are looking for. The soaking is more to bring the nutrients out of the almond before preparing the dish you need them for or in this case the milk. I would try just the soaking once and if you want it more sweet then bitter add the sugar into the water you are soaking it in, this might neutralize the bitterness in the milk when it is ready to drink. Also to neutralize the bitterness try adding vanilla extract or even cinnamon if you would like that.