I always have the issue of paying more attention to the imagery and less attention to resisting to swap positions, then lose it instantly. It's like I don't even tell my body to change, it just rolls over and stretches.

That said, back in my days of Nightly LDs (2-6 a night usually.. damn. how'd i let that go.) WILDs were my favorite technique. Sleep paralysis is awesome if you don't get wrapped up in it. Full body vibration with loud noises and flashy imagery.. then a lucid. Best experiences of my life if you ask me.