Here's an idea I just had now. I don't know if it has been thought of before. The long term purpose of it is to make yourself lucid as much as humanly possible.

Phase 1. Every 90 minutes of sleep wake yourself up with a loud alarm.
Phase 2. After 90 days of doing Phase 1, start telling yourself to wake up just before the alarm goes off. Let the loudness of the alarm be a motivation. Although you'd probably be used to it by the end of 90 days. Do the waking up thousands of times.
Phase 3. Stop using the alarm. Tell yourself not to wake up fully.

When you wake up each time, do an RC.

Could this work?