I think the best think to do (well at least works for me) is when you become lucid, spare a moment in realising it while calming down, looking at your hands, etc. After a little all the doubt and/or fear goes away and because you just kept yourself from starting to do wild stuff, you'll be a lot more stimulated and forget your doubts.

Also you might consider using a container, like bag, pocket and blanket for humans as povlovich suggested works everytime! Closet works better for me! But for quick appearance of small objects like grenades, food, maybe a lightsaber just use the first dark bag/pocket you find and put your hand inside, move it around and imagine catching what you want to get out.

Something many people miss is that almost always when you look away and imagine an object in your hand, I mean how it feels and stuff, it appears. As you are experienced as you say, it's THE way. It's even used as a reality check for WILDs!