have you tried doing a WBTB wake back to bed method. i have trouble with lucid dreaming using reality checks and DILD, with my DILD dreams i general have a much shorter and less detailed experince than if i used wbtb. with wbtb i had my first full lucid dream. i find if i have a decent drink of water, a good glass full, il normally wake up just after a r.e.m cycle, the body naturally wakes up after r.e.m if your bladder has luquid in it. when i wake up i try and remember as much detail as possible from the dream ive just had and when im going back to sleep i just focus on every little detail from the dream and imagine myself in it again. the first time i tried this method after a clear dream i had my first full lucid experince.it might not happen first pop for you but it is deffinately reliable and with practice your get it