Benzodiazepines have sedative and amnesic effects which could impact REM in a negative way. Zolpidem (a non-benzodiazepine), for example, has the capacity to induce anterograde amnesia. Likewise, I would like to add that certain drugs show a strong capacity to induce an increase in vividness in dreams, including the possibility of a higher chance of experiencing nightmares. On the other hand, some drugs depress our capacity to remember dreams. Some can even shorten the time and frequency we find ourselves in REM. Anyway, what's important here is to know whether the particular medicine you're taking affects your capacity to remember dreams. If it doesn't, then using them won't affect your ability to lucid dream. But remember, health is always the top priority over lucid dreams, any day.
A lucid dreamer should strive for 7-9 hours of sleep, imo, to optimize the possibilities for the practice of lucid dreams. While this is not mandatory, sleeping for longer hours (provided it's for healthy purposes) boosts one's chances to achieve a lucid dream.
As far as tips go that you can use to build a much more healthier sleep schedule, sleeping early and exercising regularly are proper aids that could facilitate the amount of time it takes for you to sleep. Meditation or any other relaxing activity is a very efficient way to reduce overall stress levels and trains the mind to induce relaxation whenever needed. You should use the bed only for sleeping, and not any other activity (apart from sex) that alerts you or keeps you awake. It's recommended also that you stop doing any activity in the computer, cell phones, or watching TV, an hour or two before sleep. Avoid any substance or food with stimulant effects, and always sleep with the lights off. I've seen some people choose to read before falling asleep, and an activity like this could reduce the difficulty with getting to sleep. If you feel like staying for hours in bed without being able to sleep, it's always better to get up and do something to occupy the mind, then return whenever you feel sleepy. When in insomnia it's important NOT to take naps as it messes with the sleep schedule you're trying to build and might cause an inability to sleep when at night.
There are also certain practices you can do while at bed, which could help you sleep faster, though note that the effectiveness of this depends on each individual person. For example, my brother is a very fast sleeper (it takes him less than 5 min. to sleep), and he says he just starts visualizing things and going with that visualization until he finds himself asleep. Sometimes a passive observation at the blackness when you close your eyes is all it takes to be guided into sleep. Some people count down from a hundred and fall asleep. Some love to hear music while at bed, and that helps too.
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