One thing I can say is that when i used to practice lucid dreaming, one of the techniques which proved quite effective was to interrupt your REM stage in the early morning, when it’s generally quite long, and then go back to sleep 20 mins later. The idea is ‘REM rebound’, where your brain goes very quickly back into REM and therefore into dreaming.
This, combined with writing down my dreams and doing daily reality checks, really helped me.
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