That tends to happen to me with WILDS. Even if I'm relaxed I think it's because once I'm lucid I automatically think about how I was trying to become to lucid and now I am...which means I inevitably think about my waking self and thus become aware of my real body and surroundings. I think it just takes practice and a deeper level of relaxation, at least in my experience. Once you get lucid you need to have enough focus to remain fully immersed in the dream while maintaining awareness...which is a fine line. Though I'm curious to hear others' advice. The important thing is don't give up! Keep trying and you'll get there! It sounds like you're doing great!