The stabilization technique that works for me is the following: as soon as I recognize that I am dreaming, I get down on all fours and rub the floor, then rub my hands together, then rub the floor ... until I feel the dream is stabilized. I managed to stay in dreams while I felt I came very close to waking up. The reason why it works is rather obscure to me: it has something to do with establishing a close connection with the dream environment. I often visualize myself doing this as soon as I turn lucid, since it may not be the first thing I feel like doing in a lucid dream, obviously.
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