Lots of foods are regulated by the FDA or USDA. Mayo, yoghurt, butter, bread, etc, etc. If you search the FDA or USDA site, you'll find the requirements that must be met for a company to use such terms. That's why Miracle Whip is called a "dressing," in the USA instead of Mayonnaise.
The CFR contains a subsection specifically for frozen pies (though, one of the Trump administrations last acts was to gut this). Lemon bars must contain lemons, per food labeling regulations. Peanuts have a section too.
And yeah, industry lobbyists are largely the creators of legal definitions for foods. If you're a beef producer, you certainly don't want other companies to be able to sell ground up bugs as "ground beef" and undercut your prices or give consumers a bad impression of your product.
I will concede, tacos are not regulated.
This has little to do with the stop confusing the names of things argument.
I concede that almond milk was a bad example, but if anything that strengthens the point.
I bet even back then people had the same discussion in fact :p
It seems totally feasible to require a new product to have a new name, even if it's kind of like an existing product. Think: ice cream. Ice cream is a regulated product with a formal legal definition. Places making cheaper ice cream substitutes were forced to come up with names to distinguish their products: soft serve, Frosty, FroYo, etc.
It takes the consumer all of 10 seconds to get the gist.
Everyone should be okay with truth in food. Especially vegan, who certainly would NOT be okay with products that mislead them into believing a product is vegan when it is not.