I have WILDed multiple times, and I have never experienced SP. I, like you, have not really wanted the experience of SP, so I just make it a point to not move during that transition period. Once the dream surrounds me I feel it is safe to move.

But even if you don't want to WILD, I have had the most success with lucid dreaming by doing a Wake Back to Bed (WBTB) where I wake up about three hours before I usually wake up. I stay awake for about an hour thinking about dreaming or reading this board. Then I go back to bed again thinking about lucid dreaming. I usually don't try to WILD--I let myself fall asleep as usual. But my dreams at this point are usually pretty intense, and since I have had LDing on my mind, something will triger lucidity....and I go from there....

Good luck.