Whewwww!
First and foremost, lucidity is achieved when you KNOW or REALIZE that it is a dream. Dream control is not the same a lucidity. There are many cases where we can have even full control of the dream, yet not be lucid because we don't really grasp that it is a dream, and to us, it is merely normal. So nope, I don't think those were lucid dreams, since you seem to only have control but not know it was a dream.
As for the sleep paralysis, have you tried relaxation techniques? You can just do the really simple ones such as focusing on breathe to calm your mind. Just like how our dreams can be affected by our physical body, our physical bodies, in the same way, can also be affected by our mind. Perhaps being in a better and much more relieved mindset can ease your sleep paralysis trouble? Or if you want, there are ways to get yourself out of sleep paralysis. Or perhaps find another more comfortable position, other than napping in chairs which may seem cozy, because it could have subtle negative effects on your body which may affect how you experience sleep paralysis. Moreover, I believe only you personally can deal with the problem of not being in control of your body. Since it is all in your mind, and you have your own views on it, it is more of a personal psychological process. We can help motivate you, but in the end, you yourself have to decide whether you want to face it or not. But I assure you, it may seem scary and discomforting to not control your body, but it won't pose real harm to you physically, and I assure you, it is very well worth it to go through that for the sake of lucid dreaming! 
As for the naps: In my own experience, I found naps to give me the most vivid and weird dreams as compared to dreams I have throughout the night. I do not know why this could be, unfortunately. As per your question, you can definitely take advantage of those vivid dreams! When you have more vivid dreams, it is easier to get lucid because everything looks clearer, and you remember them better. I would suggest practicing more awareness throughout the day – try to really pay attention to yourself and your surroundings. Once you are more aware, it would be easier to notice things in the dream, and thus become lucid from it.
As for the reccuring dream: yes. I believe it is possible to have the same dream more than once. However, there is no assurance that it is EXACTLY the same dream down to the details. Perhaps the storyline and settings are generally similar. I think that since dreams are memories, they are subjected to constant change everytime we think about them. Everytime we recall them from memory, some little thing or aspect of it will always change, though we may not realize it. But yes, you can have reccuring dreams 
Lastly, you can always try the other techniques, since you said WILD isn't working. I suppose you have good chances as well, since you can sleep up to 12 hours on some days.
I'm very sorry for the EXTREMELY long reply! i just wanted to share my insight, as it may help you in some way.
Good luck and happy dreaming!
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