No you don't but it makes it much much more likely especially if you are new to it. You are purposely waking up during REM periods and it makes it much more likely to remember dreams. The wake up period will help make your mind more conscious/alert while your body is still wanting sleep. My first times were random too and unintentional.
So ya, you don't NEED to do it to lucid dream but I would very highly recommond WBTB (waking up)/MILD in combination w/other techniques especially since you are unable to control it and will need that increased chance.




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