I tried quinoa for the exact reasons you mentioned, but didn't find it nearly as palatable as more "traditional" staples. Compared to rice I found it didn't gel together when cooked, had a stronger (slightly unpleasant) flavour and a gritty texture.
In the end I couldn't justify the cost to eat something I just didn't enjoy. More power to those who enjoy it.
Another tip for quinoa is to be careful not to overcook it. It will turn really mushy if overcooked.
Keep an eye on your quinoa while cooking and turn off the heat as soon as the curly germ separates from the seed. At that point, ideally, there should be very little excess water left. Keep the cover on your cooking container on for a few more minutes while the quinoa soaks up the remaining water.
The result should be rather firm quinoa kernels that "pop" as you chew them, rather than the mushy goop you'd get if you overcooked. Quinoa is much tastier this way.
I also second the recommendation to rinse the quinoa. This is especially important for quinoa that hasn't been pre-rinsed, as quinoa naturally contains an outer coating of that acts much like soap (witness the foam coming out in your rinsing water) which can give you digestive problems if not thoroughly rinsed.
I agree with those issues. Then someone gave me some quinoa which I had to use. I found this recipe for quinoa and black beans which turned out to be great and easy to make.
If you still want to give it a shot, it's great in soups. An easy Chicken Quinoa soup with carrots and celery, and a healthy dose of lime and pepper, is healthy, flavorful and fairly easy to make.
If you don't like the mostly dry quinoa that's so popular in the US, try it in a soup. That's how the Peruvians make it, and it's a world of difference!
In the end I couldn't justify the cost to eat something I just didn't enjoy. More power to those who enjoy it.