There are different grades with different properties. However very few are consumed by humans. When sold for humans it is called edamame.
The most common use is crush the beans, and collect the oil feeding the rest to pigs. If you read the ingredients at the grocery store, soy bean oil comes up a lot. Soy bean oil is also often used in diesel engines after processing.
My wife couldn't understand why I didn't care for edamame. After 40+ years on this planet I finally figured out that I really struggle to digest soy protein. They sneak that stuff in everywhere, but I do my best to avoid it.
Edamame is a special variety that is harvested before it is ripe which isn't the soybeans those supplanting wheat will be growing. You're probably thinking of tofu, natto, or something in that vein.
