As you know I use my Instant Pot for a ton of things and since it has a yoghurt setting I decided a few months ago to trying making yoghurt with it. I still prefer skim milk yoghurt to higher fat yoghurt, however the yoghurt I first made and enjoyed enough was a bit loose and almost a grainy. I experimented with using microfiltered yoghurt and then higher fat yoghurt, but without straining the yoghurt, it was still looser than I would prefer. I then thought about increasing the protein content of my yoghurt and how that might make my yoghurt creamier without straining it. The following is my process using my Instant Pot which is the medium sized one.