I, too, have been making yogurt for years. I started out making it for one of our dogs, who needed to be on a special diet, but we eat it too! I would warm it in the dehydrator - nice even temp, and room for all the containers - I usually make a gallon with raw milk.
Straining it does improve texture, but don't toss the whey - it's great for making baked goods, breads, added to smoothies, and even watering plants! (That last sounds a bit bizarre, but the plants respond well to it - just don't over-water with it)
And, the main reason I started making it myself is to save money - but the health and flavor is why I keep making it!
"How does one become a butterfly?" she asked pensively.
"You must want to fly so much that you are willing to give up being a caterpillar."
~ Trina Paulus, Hope for the Flowers