I think so. I was never a natural lucid dreamer. I never even knew it was possible or that lucid dreams existed until I was 14. I used to say "How cool would it be to control your dreams?" just as I would fantasize about being the king of ancient Egypt.
It just takes enough dedication and, the biggest part, is a genuine, intrinsic motivation. Nobody that doesn't REALLY want to LD will be able to sit completely still and keep their thoughts controlled for over an hour without any hints of aggravation or boredom.
Also, to relate back to OP, you have to be comfortable. These little spasms happen even when you're awake sometimes, and are very common when hitting sleep. Your muscles are actually a huge part in bloodflow. If you stayed perfectly still without spasms throughout all your sleep, you'd wake up with bruises and whatnot (hence people with bed sores).
Don't worry about these spasms unless they become painful, crippling spasms (like the ones I had in my back and neck the past few months. These generally don't happen until you're either very old or you exercise a ton. Like where you get prescribed antispastic medication).
It's like being a great instrument player. Anyone (well not ANYONE, but 99% of people) can do it, it just takes a lot of practice, and therefore very few can do it. Some are better than others naturally, but anyone can do it with practice and dedication.
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