The closer to REM you are, the better, it's easier to WILD when going straight to REM because it's simpler to keep awareness, and while it's possible to have dreams in NREM, unless you have done really good amount of practice with it they will not be as vivid as REM dreams.
As for naps, most of the time during naps we are going really quickly or even almost instantly into REM, which gives greater awareness, naps are golden for WILD and lucid dreaming in general.
As for dream control, do not think that you have low control or can't to something, dream control works on expectations, so think positive and expect things to happen without doubts, also check out this tutorial: http://www.dreamviews.com/induction-...m-control.html
As for dream length, it will improve with practice, and check out link to stabilization tutorial JoannaB posted, but also remember to not overthink about dreams being short because sometimes worrying about it too much can actually cause it.
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