In layman's terms, hypnagogia is the state between wakefulness and sleep (in this case we will refer to the mind, and not the body). This state is usually accompanied by hypnagogic hallucinations, which can manifest in any of the five senses. Everyone perceives these hallucinations differently though – some have visual while others have auditory hallucinations. We usually get some sort of visual imagery, like when some random scene flashes in our mind without our control (as what Iapetos mentioned, the WTF moment ). When you have those moments, it means your mind is starting to fall asleep.
Personally, when I attempt a WILD, I don't try to stay really awake. I try to drift off a bit, and the trick is knowing how to pull back into consciousness at the right time. For me, it would make sense, since hypnagogia is the transitional state between waking and sleeping, then having your mind too awake may not allow you to go into hypnagogia. At the same time, being too sleepy can render you unconscious. That's why I try to drift off a little.
As for sleep paralysis, I barely notice the vibrations and sensations much anymore. Of course, it can be different for everyone. Just because you don't feel it doesn't mean it's not happening. It is also recommended to not pay much attention to sleep paralysis, as it can distract you from focusing on the WILD transition into the dream – may it be through using hypnagogic imagery to form the dream, or imagining your own scene.
I hope that made sense to you, and I hope it helps! good luck
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