All of these things get easier when you're used to working with matrices. We want to prove that [itex](x-y)^T\eta(x-y)[/itex] is invariant, i.e. that it's equal to [itex](\Lambda(x-y))^T\eta\Lambda(x-y)[/itex]. So we stare at it for two seconds and realize that the equality follows immediately from the definition of a Lorentz transformation and a trivial fact about the transpose of a product.
I have said before that I think you can learn SR and matrices in less time than you can learn just SR, and I still think that's right.