REM periods usually occur every 90 minutes and get longer the more you sleep. Yes you can LD in the afternoon during a nap as long as it's not too late.
My most successful technique is MILD. To do this, I WBTB after 5.5 - 6 hours of sleep. I get up, keeping the lights as dim as possible, and go to the toilet, stretch, and do lots of RCs whilest looking around to see if anything is strange or dream-like. After about 10 minutes (you may want to make this longer depending on how long it takes you to feel fully awake. It doesn't take me long so I keep it pretty short) then I'll go back to bed. I'll relax, and then imagine myself in a dream. In the dream, I find something odd, and imagine myself questioning it and then RCing. I do this several times, and then gently (passively enough so that I can fall asleep) repeat "I will lucid dream" in my head.
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