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It is always more recommend to do certain techniques after a few hours, but I think it won't be a bad thing to try MILD right when you go to sleep in addition.
The best reason for having dreams is that in dreams no reasons are necessary - Ashleigh Brilliant
If it's a nap, I can usually lucid dream using the WILD technique right off the bat. My naps are short and deep and I do a lot lucid dreaming during nap time. I've never had one right off the bat when going to bed after a long day and I'm really tired. But if do some mantras like, "I will lucid dream tonight," I usually end up having one after waking in the middle of the night.
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