Welcome to dreamviews. 
Sounds like your a natural at something, you just need to take a few more steps in the right direction. You were really close to inducing the WILD technique those times, but it is the final stages, stepping into the dream, that most find difficult. My suggestion is to focus on reaching sleep paralysis. This can be done by not moving at all even when your body prods you to move an uncomfortable part (including eyes.)
Either way what you described is amazing! If you haven't, also focus on a dream journal writing down your dreams. This will increase your dream recall and in turn boost your lucid chances.
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