I can't think of any that mimic the process of tofu, given it requires coagulation. The closest is cheese, specifically paneer. Maybe imitations, like with gelatin, but not in the same way as tofu.

So why not? I'm not sure, as you can make a paste from chickpeas (hummus), beans, or lentils. But you kind of need to make a milk out of it, coagulate that liquid, mold and press the mixture. Do those mixtures create milky liquid if cooked? Do they react to chemicals to coagulate into a curd?

Given I never see bean or lentil milk, I think that's the bottleneck. Nor almond or oat milk tofu, although I bet that's a safer bet. I think soy just fulfills certain requirements and it's kind of genius that people even figured out how to make tofu in the first place!

you can make your own from any bean, nut, or legume

There are indeed. I've bought pre-made Chickpea Tofu at the store before though it has a very different texture and taste than soy based tofu. I've also heard of Pumfu (Pumpkin Seed Tofu) as a thing you can buy. Looking it up there's a ton more that I hadn't heard of like fava bean, split yellow pea, split green pea, pigeon pea tofu, red lentil, sunflower seed, and more though I'd assume those you'd probably have to make it yourself instead of being able to buy?

It’s basically applying the cheese making process to soy milk, yeah? So I’m thinking that, theoretically, you could attempt the same with like almond milk or something. Peanuts and soy seem to have a similar texture, I wonder if you could make like peanut milk and then turn that into a tofu like thing?

I think I've seen, will it tofu, videos on YouTube. But I have made tempeh from beans other than soy, black bean was better than chickpea, but both good.