I don't think you can be that exact since everyone is dfferent. Definetly if you get more than six hours of sleep 6 hours sounds good. Then you'll have time to practice a technique to go right back into REM sleep. Eh I think its better to wake inside a REM since you'll know you can go right back in, you risk if you do it before, screwing up the timing and going into another stage of sleep, so i say wake up somewhere just after 6 hours
good luck
many lucids
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but my REM ends at 6 hours, wouldnt waking up 5 and a half hours be good?
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