Optimal time for lucid dreaming?

I'd imagine this is found somewhere in a guide but what would be the best time and with what method to experience a lucid dream...

the only time i ever get is when i actually go to sleep, but other then that there is no other opportunity. Even if i set my alarm in the middle of the night and stay up for a while I can never make it that far. I forget the clock reset it and go to sleep lmao.

If that is the best thing to do then should i suck it up and deal with it, or is at bed easily doable? I heard 6 hours into sleep is good to wake up but now i think i just answered my own question...

Though, does it really make a big difference in when you are trying and with what method?

Thx anyway