If you aren't using the WBTB technique then I'd recommend it. Put simply, the method is to wake up at a later sleep cycle, preferably after you have been sleeping for around 6 hours or more. You can then stay awake for an amount of time which is optimal for you before returning to sleep. In the interim you can set your intention to have a lucid dream and use the MILD technique. The idea is to bring the wakefulness into the dream when you return to sleep, and research conducted by Stephen LaBerge suggests that lucid dreams are 10 times more likely after a period of wakefulness than in the preceding sleep. (Wakefulness Makes Lucidity More Likely)
Incidentally, spontaneously performing a reality check in a dream is in my experience extremely rare. Lucidity normally comes from a sudden realisation of the strange nature of events in the dream, with reality checks being a useful test to confirm the suspicion. I've found it useful to do reality checks whenever something feels unusual or dream-like, and really question my reality rather than just doing a test without thinking. In dreams I usually attain lucidity when I notice something seems dream-like, and the penny drops.
If you're remembering dreams vividly, then chances are you're not far from lucidity, so don't be discouraged.
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