If you are thinking of buying a yogurt maker, I would recommend the instant pot instead. It will take comparable counter space, but it will also work as a pressure cooker, a slow cooker, a rice cooker, or just an additional pot when you have a lot of stuff cooking.
If you plan to strain the yogurt, you can make it directly in the steel bowl. If you want to make it in a container, I found a set of small glass jars on line sized to work well with the instant pot for individual servings. I haven’t found a single-vessel solution to making a quart at a time, v and would be happy for recommendations.
I make yogurt in my Instant Pot about once every week and a half, with nearly 6 quarts of milk at a time The key is making sure that the milk reaches 183 degrees or so and then cools back down to 115 or a bit less, which I can really only do accurately with a thermometer. For more than 4 quarts of milk, this requires a few extra minutes on the Sautee setting on low after a full cycle on the Yogurt Boil setting, or the milk doesn’t get hot enough. Then I cool the milk back down in a sink full of cold water (which takes about 10 minutes).
We strain to make Greek yogurt; most of the time the whey goes onto the garden, though I have also used it to make bread. We make ours with whole milk and a couple of heaping tablespoons of yogurt from the last batch, nothing else.