Hey there gratulations for your experiences!
I would say the "technique" would be called DEILD- Dream Exit induced Lucid Dream. You wake up from a dream, dont move and visualize previous dream with intention to reenter it lucid and seconds later you are back in same dream or the place you visualize and are lucid.
Normally one would say you shouldnt move at all so yea an alarm you have to turn off manually is not working. its about to be between the worlds. some people manage to turn on the side and still go for a deild. i know a friend of mine she can keep the dreamy feeling while she go to the bathroom and back to bed and reenter her previous dream but this is an exception i think but should show you that it is possible in general and its about the feeling you have immediately after waking.