Most Americans are chronically dehydrated. But not drinking TAP WATER is fine. And technically there's water in all canned beverages, beer and wine, fruit juices, tea, coffee, milk.... So it's not as if by avoiding plain water you're not getting water in your diet buuut you should consider replacing your daily liquid intake with 6 to 8 glasses of water a day then a soda or whatever in between and if that's too much liquid then don't drink the soda or whatever just the water. I love Topo Chico carbonated water myself but any water is fine.
Tldr you can get by without drinking plain water but you'll most likely be dehydrated and just not know it.
About the taste of water yes it is both odorless and tasteless but because of its properties it ends up mixing very well with minerals and other materials that do have a taste (salt, sulfur, chlorine, etc). In Hutchinson, KS for example the city was built upon giant salt deposits so the city water not only tastes horrible and can even make you sick, if not properly filtered between the street and your plumbing you could have pipe rot.