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The only way your grand dad could have gotten TB from his cattle was by drinking the milk without it being pasteurized, if indeed the cow was infected. Did they actually TEST the milk? It's way too common to blame it on "oh, it must have been the raw milk". However, the only way to be sure it was the cattle is to test the cattle or the milk. Cooked beef and pasteurized milk don't contain TB if done correctly. Pasteurization was started to kill potential TB. It doesn't survive at the temperatures recommended by the FDA.
The best way to avoid this is to get a cow that is TB/Brucellosis free, and BVD, BLV and Johnes free. I won't buy a milk cow without all those tests being negative. And I make sure that they're vaccinated because I'm sorry but there is no such thing as a um, "closed herd". Unless you have no wildlife (particularly deer) in your side of the world
If you're completely surrounded by cement, you might be okay. But here, we have many deer as well as other life.
That said, cleanliness and proper handling will make your milk safe and you know what? you can pasteurize it, that's fine...you'll kill the good stuff along with any potential bad stuff you might be worried about as well. But IMOHO pasteurized farm fresh milk is STILL much better than the crap in the store. Baby steps people, baby steps
I've never heard of cows being fed soy, someone else would have to comment on that, but I don't think you have to worry about non-soy fed cows. Though for some reason, some of the calf milk replacement formulas have soy in it, which can be detrimental to the calves but whatever.
If you truly have an allergy to cow's milk, raw or otherwise, then try goat milk. Many people who are truly allergic to cow's milk can have goat milk. However, you will probably not find store-bought goat milk palatable
Do yourself a favor and find some goat milk from a farm that has goats tested for TB and brucellosis. And THEN, go out and buy a goat and make goat cottage cheese and goat cheddar. Butter will be hard...but you can always get a cow for that