I'm now making my own yogurt using a sous vide cooker using recipes with specific strains that help and with some pre-biotics.  It "cooks" for 36 hours instead of the 4 hours common with commercial yogurt so it has a massively larger quantity and breaks down most of the lactose and even some of the other proteins (casein).  It is naturally thick and I like it with a bit of vanilla stevia.  

The temperature you "cook" at differs based on the strains.  One I make uses 106F and one uses 109F.  I just make one or two quart canning jars of the yogurt at a time and mix them together when done.

The specific strains come from the book "Super Gut".  I make it with goat milk because of my new food sensitivies.