Hello and welcome to Dream Views.
The sensations you experience indeed do sound as if you were well on your way to lucid dreaming. But as you already know, it's difficult to WILD before core sleep.
You seem to be on the right path with the concentration so I think it'd be good for you to try the Wake Back to Bed method (in the Tutorials section). A lot of people have success with this when first starting out. It'll take some trial and error to figure out how long to stay up before going back to bed but once you figure that out the lucid dreams will start coming.
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