If you can't tell the difference between a MILD and a WILD you haven't been reading the tutorials enough.

MILD is a DILD method and WILD is, of course, a WILD method. In other words, with MILD you get lucid while in the dream, and in WILD you go into a dream lucid from the waking state.

Sleep position and HI have nothing to do with MILD, because as long as you have dreams, you can MILD. The point isn't to enter a dream consciously.