Hey there,
I mostly got lucid dreams via DILDS, so there's people far more experienced at answering your questions then me. But I've had a few WILDS over the years, so I'll try to answer how it is for me.
First off, I've had WILDs during pretty much every phase of the night, including right at the onset of sleep, after only a few hours of sleep, and during slumbering in the morning. I've had a semi-WILD during meditation, though it was too short to really qualify. So I guess a really practiced dreamer can probably get WILDS in every phase you ask about.
That said, for me the best time seems to be after 4-6 hours of sleep. I tend to wake up naturally at that point (with a first dream to write down) and do a small WBTB. If the WBTB is too long, I won't WILD and any attempts to do so will keep me awake for some time. If the WBTB is too short, I'll lose consciousness before I start to dream. Unfortunately, the timing varies each night, depending on how much sleep I had and how tired my body is.
So my advise: you need to find that small window where you're 'not too tired' yet 'tired enough'. How large that window is will depend on your nightly cycles and how deep you sleep. You also need to remember it can vary from night to night. So if you want to WILD regularly, you'll need to learn to listen to your body and 'feel' when the time is right, at least until you have more experience with it.
Just my 2 cents,
-Redrivertears-
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