Your thread is a nice coincidence after my thread about semi-lucidity. Because one idea I had to overcome my problems was to use MILD to remember to do something just after becoming lucid (basically, to snap me out of semi-lucidity). It makes sense to me.

I also remember a dream I had as a kid. I was wondering (I was 6 or 7) if it is possible to control dreams. I said to myself "next time I am dreaming, I have to try". I wasn't bothered by becoming lucid because I didn't know the difference, in fact, I didn't even know that lucidity is something special. And a couple of days later, I did it, I tried to steer the plot of my dream. Unfortunately, after a couple of more experiments, I made the conclusion that too radical control wakes me up and stayed with little things only.

The problem is, that this could possibly work for natural lucid dreamers only. I don't like the term "natural lucid dreamer" because it means something different for everyone and people often imagine someone almost omnilucid. In this context, I mean someone with higher baseline awareness or natural understanding of the dream state, even if it results in occasional lucid dreams only.
I don't call myself natural but the fact is I still can't relate to most of the other people's stories and experiences. The only conclusion I can draw from this is that different people dream differently.

Another possible problem with your idea could be that it could lead to doing the intended goal non-lucidly. If your goal is about some experience (flying, eating food, going to Mars), it probably doesn't matter that much, lucid or not, you experience what you wanted. But if it is something more complex, it would be a problem.

I think I'll try it because I think it could work for me.
I am not sure it would work universally.