As far as becoming lucid regularly and reliably, I see some different ways:

We can regularly identify one specific aspect of our situation that appears in our dreams and relate that aspect with dreaming. For example, we could regularly identify gravity during dreams and relate gravity with dreaming.

Or, we can regularly identify one non-specific aspect of our situation and relate that aspect with dreaming. For example, we can regularly identify many aspects of our situation and/or relate many things with dreaming such that we regularly notice one non-specific aspect of our situation during the dream that we relate with dreaming.

Some might find both ways to be equally challenging or some might find one way easier than the other. The former is less abstract and the latter requires less control over what is specifically identified during the dream.