I, too, enjoy lucid dreaming. Anytime something negative begins in a dream, to be able to tell myself, wait! it's only a dream, I want it to be xxx this way, is really beneficial. I also use it when I hear myself snoring while asleep of course rofl!!!

I don't find the need to wake fully unless I wish to write something down (if I've become magnificently wise in the dream for instance lol.)

It takes practice to have good control. It also takes use. (You can't just learn to do it well and then stop honing the skill and expect to have it sharp at any bekon call.)

The hypnotic suggestion is a good one. Telling yourself you want to dream lucidly helps. If you do have a particular event or item that you can use to trigger in the dream, that is great. You can also direct your dreaming by telling yourself "I want to dream about such and such ..." as you fall asleep.

Pleasant dreams!