Just last night I was staying up late for very unnecessary reasons

When I went to bed I was very exhausted. I was starting to fall asleep and I could very faintly remember imagining a story and some people talking. But before anything happened, my whole body twitched and I was awake again.

I assume this happened because I heard that the more tired you are, the faster it is to fall into the REM stage of sleep. So maybe I was falling in a dream? And the twitching was me shaking off sleep paralysis? I couldn't tell how much time passed but I'm fairly sure that it wasn't that much, only a couple of minutes.

So I have some questions..

1. Is what I think happened true?

2. If question 1 is yes, then how can I turn that into a lucid dream? By WILD-ing?

3. If question 1 is no, could you explain what happened?

Thank you in advance.