Instead of trying to escape sleep paralysis, or to just tolerate it, you might get better results if you try to use it. Sleep paralysis allows for much easier transition into lucid dreaming, and you've already seen how if you're not fighting it, it can easily lead to lucid dreams. I suggest you go to the tutorials subforum, and read up on WILD.

Much of the terror of sleep paralysis come from the way it's unexpected and unwanted. People using sleep paralysis as a method to lucid dream, who seek it out and actively want it to happen, find it to be much less frightening than those who develop it accidentally. Therefore, if you were seeking it in order to lucid dream, it would be much easier to deal with, especially once you got better at transitioning from sleep paralysis to lucid dreaming. Then you just have to remember to focus on how your dream body is fine, instead of how your real body is paralyzed, to avoid panicing.