This only applies to lucid dreams, generally, but if you are looking to remember them very clearly, always make yourself wake up after you feel you are finished in the dream. Better to wake yourself up than to have the dream be lost.
As for remembering regular dreams, I like to wake up after my REM cycles, which I have down to a schedule right now, surprisingly. Dream recall is, obviously, better at these times. There are charts out there that show you the phases of REM during different times of the night.
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