Just read up on the subject a little. It seems to be something that varies hugely from patient to patient. It could be annoying for LD because REM is a bit screwed up, especially with the bad recall you describe. I am certain that it's not impossible though. You said you went into REM 4 out of 5 times, so I guess you can very well lucid dream. I read that people with narcolepsy see hypnagogic imagenary quite often. If that's the case, then WILD is a good place to start.
So it might be a bit tougher for you, but you can definitely get there. Good luck!