It's not a question of being "fine", it's a question of increasing your odds as much as possible. MILD relies on developing a certain type of memory, and the more you develope it, the more you're capable of setting your intention of becoming lucid. Visualization serves as an aid (important one) to the process, so you should use it. It won't be the mantra that will define if you have a lucid or not, but the overall process which already is influenced by your ability to remember future intentions (which derives from that memory improvement).
What you have to understand is MILD is not a magical formula of do X and Y and then fall asleep. It's a matter of: create habits of remembering to do things in the future (in this case becoming lucid), use visualization so you can intensify your intention of becoming lucid by creating a connection with a specific event, and connect that visualization with specific events. Don't just say "I want to get lucid!" because it doesn't work too good. Now if you define exactly what your intent is (like "I will become lucid when I see something akward!") and then visualize it, your brain will create a connection between your intention and that scenario. That's how prospective memory (the memory which MILD is all about) works.
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