Maybe try improving your prospective memory? This is where your intentions are stored. Stephen LaBerge developed an exercise for this so that you can work on it while awake. For a week (or more if you want to) at the beginning of each day, you think of a few things you're likely to encounter several times during that day. You set the intention to recognize these things whenever you encounter them. Whenever you encounter such thing, you perform a reality check. I think this will make it easier for you to remember your intentions.
And perhaps you don't focus enough on setting your intentions. Have you tried visualizing yourself carrying out your intentions in your lucid dreams? One time I wanted to materialize a door in my lucid dream and open it to see what would be behind it. I visualized myself opening the door and ending up in different worlds. When I had a lucid dream that night, I immediately remembered my intention and tried to carry it out. Too bad I woke up before it though.
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