Don't worry about waking up in your bed and becoming lucid, I would actually use that. Imagine all the crazy stuff you can do with your house/apartment. I don't see how it would matter whether you get lucid using WILD or MILD, but the intentions when trying to WILD is definitely enough to get you lucid spontaneously. I've also had a few WILD's unintentionally like you, it happens sometimes when you catch yourself falling asleep and just on the edge. Those experiences can definitely help you when you're trying to WILD wholeheartedly.

If you have any more questions, ask away!