@ My Limbs feel the need to tense
I’ve heard that just before starting the relaxation tensing all the muscles in you body, and then relaxing them can help.
@ I can’t be stuffed counting
There are a number of techniques other than counting. Such as as
VILD (Visualising a dream scene)
DEILD (Re-entering a dream whilst staying aware)
FILD (moving your fingers to stay conscious)
You can also make up your own ways of staying aware… I have tried things like listening to a song a few times before going to bed and then letting my mind play it back to me. (Like when a record gets stuck in your head) Anything that prevents you from losing awareness, is worth trying.