Welcome to Dreamviews!

Wow, 20 years of lucid dreaming, that's awesome.

Yup, when you enter LD straight from being awake, without losing awareness, that's a WILD (wake initiated LD). If they start from within a dream, it's a DILD (dream induced LD).
And naps are great for LDing, since in a nap, we go almost straight into a REM. Happy dreams

Welcome