So I have FINALLY had success with making homemade yogurt. The consistency has even been the same as store bought without adding anything like unflavored gelatin. The two biggest things I think that have helped me are knowing the right temperature to use (110 degrees) and using LESS yogurt starter (only 1 Tbsp per quart).
1 quart milk heated to 180 degrees (scalded)
Cool to 110 degrees (not hotter)
Take 1/2 cup milk and add 1 tablespoon yogurt with active cultures
Add starter to remaining milk - Mix thoroughly
Keep at constant temperature for at least 4 hours or until firm
Refrigerate and enjoy (It does set up more in the fridge)