Continue having good luck, I had 4 wakings last night, (that means 4 times going to sleep!), including 3 in the later morning).
Interesting that I find it easier to go back to sleep in the late morning after sleeping and dreaming for a while than in the middle of the night (4-6 hour mark), I could have probably kept sleeping for several more cycles but had to get up and start my day.

Again, this is what I'm doing: mainly focusing just on relaxation, not "getting to sleep." Let thoughts pass by (had to do this several times, there are some major life things going on with me and my extended family right now). Imagine I'm inhaling "lucid dream gas" and will be asleep and lucid dreaming in seconds. Hugging my wife instead of trying to avoid contact, being happy in bed instead of being frustrated at all the distractions.