I make yogurt regularly in the instant pot. This is what I do: Use Fairlife non fat or 2% and about 1/2 cup yogurt from the previous batch. ( I freeze the amount in a small container and just thaw in fridge when ready to make yogurt.) pour the milk in the instant pot (I do use the non-stick liner pot) and add the thawed yogurt. whisk to combine well. Cover the pot with a flour sack towel and a glass lid. Push the yogurt button, set for 9 hours. I do this in the evening, wake up to yogurt. Then put the inside pot, towel and lid in the fridge for the day to chill. That evening, I put in strainer and strain the whey away to get Fat Free Greek Yogurt. The towel keeps the condensation from dripping into the yogurt. Just fold to cover the pot, so you have multiple layers.
I save the whey and use in soup, cooking dried beans, cornbread, and to thin the yogurt for dressings,etc.
I had some failures and had "yogurt milkshakes" to drink when doing the heat and cool method, also tried with the Horizon milk but it didn't work for me either.