I started lucid dreaming when I was in my 30s and worked very erratic hours. I was try to run a machine shop. I’d work until I decided it was time to go then sleep until I got up. I might leave work at 3am, noon, whatever. I started lucid dreaming when I was in the process of waking up, in particular if it was daylight. I was very involved in Wicca at the time so it interested me. I learned to relax and let it happen, much the way you said. However they waned and I don’t have them now, even though in retirement my sleep schedule can be quite erratic.