At the grocery store I'll buy almond/oat etc ice cream, but sometimes the ice cream shops only have dairy, or if I'm at friends/family and they only have regular ice cream.
Lactose is in nearly everything from chips, to baked goods, to some random noodles, sauces, and everywhere in between.
If I'm outside of the home and planning on eating I'm 100% strapped with lactose pills
Planet Oat has some tasty varieties, I'm a big fan of their Blueberry Oat Crunch. Also, Dole Whip is dairy free as well and is getting more popular just about everywhere.
Otherwise lactaid is always good if it helps you at all and you still want ice cream.