Hey there,
First of, congrats on your great experience!
Now, I don't know about astral projection, so keep that in mind when I give you my opinion. Likely, other people will tell you differently.
But, what you describe sounds a lot to me what I feel when my body goes to sleep. Whenever I stay inactive for some time, especially when trying to be aware like during WILD excercises or meditation, I'll feel my body go to sleep. It usually starts with a tingling, then a numbness in my limbs. Often I'll feel like my limbs are in strange positions or don't feel them at all anymore. This can be coupled with a loss of sense of balance, causing vibrations and/or sense of floating.
Next, the hypnagogic images start, which can cause me to completely 'space out' of my waking awareness as they pull my attention. More often then not this 'spacing out' will only be for a second or even for a fraction of a second before my bodily sensations pull me back. Eventually though, every so often the body sensations will get less and less strong while the hypnagogic images and sound get more and more pronounced/ The later will then develop into a full sensory experience. At that point I'll be dreaming and having a WILD.
So yes, if you ask me, you had a lucid dream, more specifically a Wake Induced Lucid Dream 
Just my 2 cents,
-Redrivertears-
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