Most vivid LD's & induction method?

I seem to get the most vivid lucid dreams with MILD, and the ones in which I do an RC while believing I am really awake, but sadly by definition I have trouble causing them at will.

With WILDs I tend to either result in semi-lucid dreams (in which I think that DCs are real people or I fail to realize all the implications of my lucidity) because I either get confused by hypnagogic imagery before I start dreaming or because I waver in and out of lucidity, or I am too lucid and the dream either is hazy or "stutters" and/or I can feel my dream body and real body simultaneously and hear noises from the real world. This also tends to happens in dreams where I just spontaneously become lucid or because I purposed to have one before going to sleep...

You know you can increase the vivdity of LD's really simply.. Takes a bit of practice though.

WILDs make me more aware of myself and hence are more vivid than other methods

I imagine that lucid dream induction through chemical substances results in the most vivid dreams.