My oldest was fed through exclusive pumping, and honestly, my boobs were big enough and saggy enough that I could "drink from the tap." So I had experiences with both. We also lived in an apartment and didn't have a great freezer with my oldest, so any milk that she didn't drink before it would go bad, we were trying to use up, so I drank a fair amount of breast milk in different forms.
I never had it taste soapy, but it would separate, and it definitely tasted very different depending on when it was pumped. So foremilk tastes very different from hindmilk, for instance, and when I had mastitis, it was very salty. It definitely changed in taste a lot from time to time.