As for me REM Dreamer efficiency = 0 so far... Tried it for about a month then dropped into a cupboard. I use it now for measuring REM cycles. I will come back to it but now the priority is to achieve WILD without supplements.

As for the main topic I found an interesting piece of info. I am studying now LaBerge's 'Lucid Dreaming' and according to him
(...) lucid dreams characteristic of sleep onset at the beginning of the night typically take place in NonREM stage 1 sleep and hence rarely seem to last more then a few seconds.
Subsequently a subject that was able to have LD straight from beginning of the sleep was not able to control her dream body then.

The book was written in 1985 and he might have revised his opinions since then.

Personally I fancy WILD after a few hours of sleep as giving more hope of success. However if they are some dudes who can answer YES to the thread's question (without aids) I may change my mind.