I think there is a sweet spot when the cereal has absorbed a bit of milk and softened, but still has a little crunch, and the milk has absorbed some flavour from the cereal. However, if you leave it too long, you’ll end up with a soggy mass, which is shit. It also depends on the cereal a bit. I think nice muesli or granola usually needs a bit more softening than a lighter cereal like corn flakes or coco pops, but the latter do benefit from turning the milk sweet or chocolatey when left to soak.

Of course, like everything else in this world, we are destined to fight over it as if there are only two choices; maximum soggy and maximum crunchy.