Some people are not researchers and need blanket generalizations. Others love to delve into the details and want to optimize the situation.
For the 'Average Joe' that isn't going to research this stuff, they should 'avoid legumes'. That includes peanuts, cashews and beans. It's simple and easy to remember. Now, for the detail-oriented individual, there are exceptions. String beans, peas, fermented soy (tempeh, gluten free tamari) and occasional cashews are okay in small quantities. Now, could you imagine if Mark's rule was "avoid legumes for the most part except for string beans, peas, tempeh, gluten free tamari and small quantities of cashews as long as they're not staples in your diet"? That would turn a lot of people away because it's way, way too complicated. But yes, you're okay with eating green beans and peas. They're both starchy and they both contain anti-nutrients, but the quantities are very low of each. You're best off not eating them every day or making them a nutritional staple, but if it's a beautiful summer night and you want a steak and a pile of fresh string beans, absolutely go ahead. That's completely harmless. It's not conflicting information, but rather details that would turn away the average person, and Mark would much rather have 1,000,000 people on board at 75% than 1,000 people on 100%. It's the greater good, and it's better for business.
Almond milk is a similar story. Personally, I'm anti-nut for the most part, but there's a big difference between "almond milk" and "almond milk". Ok, that was confusing. Basically, you can make your own almond milk and it would be okay in terms of the Primal Blueprint. There are plenty of recipes online that tell you how to make it, and it's pretty simple. However, the store bought almond milk is different - it's full of extra ingredients. Most common are carageenan, soy/sunflour lecithin, many have added sugars and flavoring agents...they're not exactly Primal because of all the words in the "ingredients" list you can't pronounce.
Don't put your trust in anyone on this forum, including me. You are the key to your own success.