The methode i use is wild so i go directly into a lucid dream and i do it around 4 in the morning. Also there is a bit of time between the random false awakenings where i am able to stabilize the dream and i have maybe a couple minutes to play around but than i get pulled into a false awakening. It is this distinct feeling where i know its coming and it happens really fast like i become detached from dream body in one jolt and am back in bedroom. I used to have more time as it was happening but now it happens even faster so there is no time to stabilize.