This really depends on how quickly you naturally enter REM. Some people enter long REM absurdly quickly after falling asleep. Most, however, have only few and short REM periods until later in the night. That's why it's recommended that you wake up about 30-90min prior to your normal wake up time, and then fall asleep again after about a half-hour of mind-stimulating (not body-stimulating) activity. This jars your consciousness into recalling the long REM periods you have after long sleeps.
You don't HAVE to do this; lucid dreams are certainly possible earlier in the night. It's just you have longer and generally more vivid dreams later, which increases you chances to actually become lucid. I guess it depends whether you think waking up earlier is worth it or not.
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