You do enter REM sleep multiple times in 6-7 hours of sleep. Most people here say each REM cycle of sleep lasts about 90 minutes throughout the entire night. The difference between the beginning and the end of the night is that REM becomes stronger and longer. The early night is more for deep sleep, the later you go there's more REM sleep.
So basically if you sleep longer there are longer REM periods (and less deep sleep) in each cycle; which means dreams that are longer, better, and more vivid. There's a better chance of lucidity at that point, but you can still become lucid anytime in the night. I've become lucid 4 hours into sleep before. Its just harder.
One thing I do that you might consider trying is to wake up for a bit 2/3 into your sleep. So maybe like 4 or 4.5 hours in. Stay up for a bit then go back to sleep. I'm not sure why, but dreams are better when morning sleep is interrupted. It also gives you a chance to try WILDing every day.
At any rate, keep it up! It can be tough and frustrating at first but you'll get it.
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