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Add 1 gallon of milk to instant pot.
Hit yogurt button and adjust til it says boil and bring milk to 180 F.
Add in sugar and vanilla at this point if ya want.
Let cool at room temp to about 110F.
Take a bit of the warm milk and mix with roughly ½ cup starter (this is either yogurt from a previous batch or a plain small container from the store if it's your first batch).
Hit yogurt button and adjust until it has a time on it and make sure the setting is "normal".
Strain of whey when it's done or not. Up to you!