So, RCs with autosuggestion is best suport for MILD - You do can learn to have Lucid dreams that way. MILD is a method that causes DILD’s. RC’s and autosuggestion does same thing, so it’s worth to use them. In RCs you have just to really ask yourself, think that you are dreaming or not, dont just mindlessly starting at hand.
At first, throughts while falling asleep are often important part of froming dream. You have to MILD while falling asleep, to moment of losing consciousness. A repeating (short ones are better, but dont make it three words) sentence will get into dream, causing your dream mind to recogenize dream state way more often.
In reality, think it. When you are nearly sure that it’s dream (like you see a flying car), you should ask iot loudly, to get more lucid.
Wow, it gone long
Just my point of view at MILD.